The Study Of Manipulator For Carrying Material's Design Based On Virtual Prototyping

In industrial modernization process, the manipulators for carrying material are widely used, but the traditional design methods of manipulator can no longer meet modern business'requirements. In order to meet new business'requirements, a design method is adopted in this paper which is virtual prototyping technology to design manipulators for carrying material.Based on analyzing the structure on the manipulator and its characteristics of carrying material, the four degrees of freedom joint manipulator design program is identified, and Pro/E software is used to design the framework and the drive-system, the virtual assembly is completed finally; And the D-H coordinate according to Denavit-Hartenberg theory is built, then the equation of positive& retrorse kinematics which form the base theory for manipulator are got. The dynamic equation of manipulator is derived and it can provide evidence for selecting the drives for manipulator.The kinematics and dynamics of the manipulator is simulated and analyzed by using ADAMS software according to the movement path of the manipulator, which provides the possibility for its practical control system; The problem in the simulation analysis of the dynamics is discovered; Then optimize is completed according to the relative parameters and the manipulator system is simulated, at last, the two parameters of the manipulator are compared with each other. After analyzing we found that it is lower than before.