Development On The Four Degree Manipulation Of The Material Handling

Manipulator is a powerful tool for the human security operations, production automation and improving labor productivity.In this paper,the material handling manipulator's capabilities is analyzed and the material handling manipulator is designed,based on the research and development of manipulator in recent years and connected with the project of the material handling manipulator.Based on the analysis of material handling manipulator's performance requirements and operating feature,the manipulator's mechanical structure,drive system transmission method and control system is analysed to choose the cylindrical coordinates as the mechanical structure of the manipulator,choose PLC to control.These efforts have a important significance on that improve the versatility of the manipulator,optimized the structure of manipulator and shorten the development cycle of manipulator.On the basis of this design.the kinematics is analysed and the relationship between arthrosis parameters and manipulator space in position,speed and acceleration is given.the,kinematics equation of manipulator is established by Denavit-hartenberg method for the relation between the parts and position of manipulator.The dynamic equation is established using lagrange equation for the relation between the motion of every joint and force.Since the join of manipulator have two basic forms of movement:the form of mobile and the form of rotation,Its derivation of the kinematics and dynamics can provide reference for the other types of economical manipulator and provide a data support for the trajectory planing and the optimization of dynamic performance.The material handing manipulator is partitioned into modules,the executive body is designed and the trip location, bore and buffer of the drive component are selected to meet the manipulator's positioning accuracy and velocity requirements.And the selection of drive components are checked to improving the reliability of the design.On this basis, the control loop of drive system and accessory of drive element is analysed and selected. According to the control requirements,I choose the I/O points of PLC,and design the PLC control system.Through analysis of material handling manipulator's modules,determine NS chart use to program design. According to the ananlysis of above parts,a economic,modular and high reliability material handling manipulator design scheme is conclude which will be value to other type of manipular's design.The four degree manipulation of the material handling was applied in Hubei zhongyou technology industry &commerce CO.LTD's mechanical and electrical integration experimental platform.