Design Of Robotic Arm For The Testing And Shaping Of Pantyhose

At present, most of the factory depend on labor in the testing and shaping process ofPantyhose, there are many problem of efficiency, safety and the working is Repeatability andmonotonous, so the situation must be replaced by automatically machinery. The main task of myjob is complete the design of robotic arm in its structure and with the help of the virtual prototypetechnology complete the optimization of the structure, the main contents of this paper is:Through the analysis of shaping process, design the overall scheme of the manipulator:design the manipulator coordinates, degrees of freedom, working process and the allocationworking step time; design robot turning module, horizontal expansion module, the vertical liftmodule; the selection and calculation of cylinder and motor, connector design; design ofpneumatic servo system diagram.Based on the model, import the mechanical hand model into Workbench, analyze the overallstiffness of the manipulator, the results show that the stiffness of the manipulator is in accordancewith the requirements. Using finite element method analysis the main components of the modal,obtain and analysis the low order frequency, Provide theoretical basis for avoiding resonancebetween components. Determine the motion parameters of the manipulator in D-H coordinatesystem, get the velocity and acceleration equations of motion.Using ADAMS simulation the kinematics of the manipulator, accomplish theoretical solutionof the manipulator kinematics. The simulation results proved the correctness of robot model., onthe other hand it can instruct the structure optimization of the manipulator.