Design Research Of The Flexible Hand About Smoke Box Cleaning Robot

Industrial robots which represent the advanced productive forces is the crystal of science and technology and is the symbol of the industrial automation about one station. Smoke box cleaning robot is the key basic material in tobacco industry manufacturing. Smoke box clean robot is automation equipment which is used to clear impurities in smoke box. Its performance directly affects production efficiency and manufacturing quality of cigarette products. So it is very important to research smoke box cleaning robot and its technologies.Firstly, smoke box cleaning robot system product by the German KUKA robot company, Sweden ABB robot company and ship equipment group company limited in Kunming are introduced. And a generalized summarize is made for the three-DOF parallel robot mechanism.Secondly, the modeling of the three parallel robot mechanism were studied. A generalized summarize is made for the theory of screws and its application. And use this theory for analysing the mechanism design. The kinematic of the 3-RPS parallel robot mechanism, such as direct position, inverse position, speed analysis and acceleration analysis are researched. The dynamic of the 3-RPS parallel robot mechanism, such as the force of inertia, the analysis and power balance are analysed. Useing a polar coordinates way to describe the working space of the 3-RPS parallel robot mechanism and introduce structural constrains on its working space. According to study its working, a space design of working space system has been worked out with MATLAB software. The singular configuration of the 3-RPS parallel robot mechanism is introduced and several singular configuration are putforward.Finally, a three parallel robot mechanism project implementation and design of the platform system are introduced. The principle of the smoke box cleaning robot flexible hand and the use of the platformis are carefully introduced.