Design And Analysis Of A New Manipulator Clamping Device For NC Machine

In order to meet the market demands, the author advanced a new clamping manipulator of CNC machine tool with the advantages of reducing manufacturing costs, ensuring the accuracy and reliability and expanding the flexibility of mechanical hands, using the techniques of pneumatics, manual regulation and transferability etc. Utilizing modern CAD / CAE technology, the author simulated and analyzed the mechanical hands to explore the structural topology optimization techniques for the solution of optimizing the mechanical hand. This article finally summed up modern designing processes for specific products, of which the application of co-simulation technology has also been studied. Chapters of this thesis are summarized as follows:The first chapter introduces present situation of the domestic and foreign industrial robots, industrial mechanical hands, and also probes into the exist problems in production and application of industrial mechanical hands. By using a typical example, the characteristics of the finite element method and structural optimization in engineering applications have been shown. Importantly, the tasks of this dissertation have been defined.ChapterⅡmainly prepares for the subsequent structural analysis and optimization based on the configuration design of the new CNC clamping manipulator. First, the parameters of objects and the design requirements of the clamping manipulator have been cleared. To the design requirements, the author proposed two projects, and compared their strengths and weaknesses, and finally determined one of the projects, by giving the theoretical basis for judging. This section also gives the solutions of the key issues in the design process, and also the design of the corresponding manipulator meeting the design requirements. Finally, 3D models and clamping scenes have been set up by CAD tools, providing the basic model for the analysis of the subsequent chapters. In the third chapter, the major work is studying virtual prototyping technology and its applications in clamping manipulator. Firstly, it is necessary to choose appropriate analysis module clamping of the virtual prototype according to the specific needs of the manipulator, and analysis the key technologies for the establishment of a virtual prototype robot, and propose a reasonable and feasible analysis program. The problems in the practical analysis have been pointed out: compatibility, unit and constraint, the improper selection of simulation step size and parameters and so on. Finally it is by using ADAMS that virtual prototype robot platform of the manipulator has been achieved.The fourth chapter gives the mechanical analysis of he CNC clamping manipulator, using appropriate analysis software (HYPERMESH / ANSYS / OPTISTRUCT / LS-DYNA), aiming at solving rationality problems of the mechanical design advanced in the first chapter. At First, corresponding theoretical foundation has been introduced, and the key technologies which may affect the calculation have also been discussed. The work of this section focuses on the mesh quality evaluation and selection method for solving the program, and achieves static analysis of front and side of the new setup robot, and summarizes the results of the analysis, combining with the general mechanical analysis process. Extracting the foundation of the manipulator, the author carried out the structural topology optimization for it, and determined the appropriate base shape for the manipulator by comparing the model structure before and after optimization. The key problems of static analysis and structural topology optimization have been concluded.ChapterⅤmainly summarizes the design process of clamping manipulator and its rapid optimization techniques. Firstly, the new design process combined with CAD and CAE technology in the design of clamping manipulator has been analyzed, followed by comparing with the traditional design processes. And then the joint simulation method in the rapid optimization has been validated by giving an example.The last chapter gives a summary of this thesis, including the work progress and the shortcomings of this dissertation, and then pointes out the focus, direction and the problems to be solved in the future research work.