Research On A Five-DOF Carrying Manipulator For Teaching

The teaching and training system of the electro-mechanical integration technology for simulating the modern industrial automation production line, need to show the authenticity and particularity of the simulation. This article provides the design of a multi-degree and multi-joint manipulator for the transportation to attracting students' interests. The manipulator with simple and compact structure, strong control functions, a light weight and the low cost is the innovative points of the whole subject of practicality, universality and necessity.This article analyzes the plane-motion workspace of the manipulator using graphical solution according to the actual working condition and technology parameters, obtains the joint distance of the design , draws the schematic diagram by analyzing and comparing parts, determines the transmission way and obtains the whole structure scheme.After that, it provides the hardware design of the control system which consists of the main control PLC and control panel illustrating with pictures and lists, and designs a program on PLC using FXGPWIN according to the actual condition and achieves the purpose of the applying.At the same time, it establishes the coordinate transformation matrix using D-H methods on the kinematics analysis, and calculates the forward and inverse solution of kinematics equations, and shows the verification and the application.At last, it completes the modeling of the manipulator structure and the design of the virtual prototype by the Pro/E software, and obtains the all part drawings, verifies the accuracy of kinematics analysis by the motion simulation on the virtual prototype.This article provides the theoretical support for the manufacture and motion control of the manipulator and establishes theoretical basis for the further research on the subsequent kinematics analysis, the structure optimization and the working process.