Structure Design Of Mechanical Arm For Freezing Box

With the rapid development of science and technology,especially in the unmanned and automated industrial production lines,industrial robots as a thriving automation equipment are widely used in all walks of life.Because industrial robots have the characteristics of wide application,high working efficiency,fast speed response,strong stability,high repetition accuracy,can work for decades,and high automation level.So people also attach great importance to the research of industrial robots.The most important part of industrial robots is the mechanical arm,which is a complex system that integrates many disciplines,including mechanical structure,electrical control principles,materials and other disciplines.This paper aims at the need for large hospitals to store precious medicines in ultra-low temperature(liquid nitrogen environment).Because the storage temperature of the box is extremely low(-196 degrees Celsius),it is not suitable for people to open the lid directly and take medicines by hand.It is necessary to design a manipulator grasping system to replace the staff to complete the storage function of the medicine box in the storage tank.In the process of designing and developing the manipulator arm,the main work of this paper is as follows:Firstly,a large number of references about industrial robots,especially the mechanical arm grasping equipment,are consulted to fully understand the current development of the mechanical arm.Based on the analysis of the design requirement of the manipulator designed in this paper,the research content of the whole paper is planned.Then,according to the design requirement of the manipulator arm,a multi-joint manipulator arm which can meet the requirement of taking the freezer box is designed,and the digital and analog drawings of the manipulator arm are established by using three-dimensional software.At the same time,the internal layout and rotational motion of the tank for storing the medicine box are proposed.At the same time,a three-dimensional digital-analog diagram is also established.Secondly,the theoretical analysis of the manipulator is carried out to simplify the mechanism schematic diagram,and the kinematics equation is established based on D_H method.The forward kinematics solution,inverse kinematics solution and Jacobian matrix of the manipulator are studied.The dynamic equation of the manipulator arm is established by Lagrange method,and the correlation coefficient is calculated.In order to ensure the safe and smooth rotation of the storage tank,a gear reducer is designed to increase thedriving torque of the rotating motor.Finally,the virtual prototyping technology ADAMS software is used to carry out functional simulation analysis of the whole manipulator,and the envelope of its workspace is simulated to verify whether the design dimensions of each joint of the manipulator are reasonable.And the finite element analysis software ANSYS is used to analyze the stress of the key parts of the manipulator arm to verify whether the design strength is satisfied.