Structural Design And Kinetic Analysis Of Manipulator In The Automatic High Frequency Fusional Machine

The high frequency fusional machine can offer specimen to fluorescencespectrum analysis and the specimen which are not influenced by granularity andintolerance are uniformity and consistent,but efficiency has been the bottleneck ofit's development.Using manipulator to clamp the crucible is a new structure andmode. Manipulator is a kind of roboticized equipment which can carry or operatesomething according to the programme writed in advance,and now manipulatorhas been the key factor in the manufacture's automatization and efficienci'sadvance.So,research on the manipulator is very necessary. This paper take the manipulator as the key parts,and design a 3-DOFmanipulator based on the theory of work and cortrol.then,applying it to highfrequency fusional machine,and do some experimental research. The paper consists of six chapters, given as follows:Chapter 1 Introduction Recently, fluorescence spectrum analysis has more and more strictrequirement in the specimen. because of the fusional technique's merits and it isattached importance more and more,but the applications of manipulator inFusional equipment is a innovation. This chapter firstly introduces the makeup and categorize of manipulator ,secondly the research progress of manipulator thirdly developmental statusdomestic and international.Then introduces the theory of high-frequencypyrogenation and Fusional equipment and give the disadvantages of home. Themain research content of the paper is list at last.Chapter 2 Structure design of mechanical system in manipulatorThe system of mechanotronics mechanical-electrical integration need notonly better orientational precision but also better dynamic response comparingwith the mechanical system. This chapter give the locomotory circle ofmanipulator based on the theory and requirement of high frequency fusionalmachine,then confirm the system of transmission.Ball screw are applied widely in the mechanotronics mechanical-electricalintegration because of it's merits:little friction,high efficiency,reposefullocomotion and reversibility.The article choose the ball screw consideringconfiguration,main dimension,the adjustive quomodo of interval of axial and thequomodo of support,then give detailed calculative steps to exert the ball screwand minish volume.The fingers are the key parts that clip workpiece.So, the structural design offingers must be practical. The author chooses the fingers that have outside pincersand italic plane because it is simple in configuration,convenient in cortrol and hashigh efficiency.Then the author open out the proportion of power between driveand implement through reckoning transmissional proportion and efficiency,at thesame time,it is a preparative work for confirming other parameters.Chapter 3 Organizational kinematics analysis of the manipulatorOrganizational kinematics analysis of the manipulator's purpose isestablishing the relation between components and executive parts.Thismanipulator is belong to the space organization,as a result,the author adoptcoordinate's transform and analytical matrix to found equation that describecomponents' relation.This chapter introduce matrix transform that do not have the same originbased on the coordinate transform that have the same origin and give theparameters of manipulator under D-H reference frame.Then,the authur transformcoordinate of manipulator's center to referenced reference frame and confirmmanipulator's position and stance.All of this provide means to manipulator'scortrol.Chapter 4 The choice of manipulator's executive componentExecutive component provide power for mechanotronics mechanicalelectrical integration.In all of these,electric are applied widely because of it'suniversal,simpleness,speedy response,big motivity and uncontaminated.Stepper motors can accept the pulse signal and little error that dose notcumulate. This chapter introduces stepper motors' category, work principle andhow to choose it based on basic parameters,capability,work principle,the way todrive.Then ,the chapter give a detailed process of choosing and a brief on high andlow voltage drive.Finally, the authur give the solutions to hackneyed problem,forexample,tremble and lose steps.Chapter 5 Finite element method analysis and the experimental researchon manipulatorHow to obtain the best matching among all of the components is the key afterconfirming transmission and the answer to this question is FEM.This chapterfirstly confirm that the manipulator's element attributes,load and meshing,thencompute the intrinsic frequency,as a result,choosing electromotor will has a goodreference.Experiment is a key step in the scientific research bacause it is a provementwhether the equipment is successful.The authur repeat the experiment ten timesand receive actual numerical value that compare with academic value.Amongthose parameters,the distance of bodi's raise-descend(h) and the angle ofmanipulator's circumgyrate(α) are in the allowable scope,but the angle of bodi'scircumgyrate(θ) is out of it.then ,the authur give the reasons to this question andeduce the means to ameliorationChapter 6 Conclusion and expectationThe chapter gives the main conclusion obtained in this paper and the prospectfor next research.