The Research Of Digital Prototyping On Full Hydraulic Residual Anode Plate Carrying Manipulator

There is a transport process of the cathode residual anode plate in the process of electrolytic refining non-ferrous metals. At present the plate transport is mostly completed by manual or semi-automatic machine combined with lifting appliance in the domestic, which has a lower degree of automation and higher labor intensity. What is more, there are potential safety hazards.The residual anode plate processed in the lead refined is researched in this thesis. A full hydraulic transfer manipulator that uses a type of supporting form to grab residual anode plate is designed. A digital prototyping platform based on the software of Inventor, ADAMS and AMEsim is built. The research content of this thesis includes the3D modeling of digital prototyping, the analysis andmodeling of kinematics and dynamics, path planning.the establishment of CO-simulation experimental platform of mechanical-electrical-hydraulic coupling system.According to the actual work condition, mechanical structure of carrying manipulator is designed.and we use the software of Inventor to draw a three dimensional model.The static finite element analysis is done for key components to verify the rationality of the design.A kinematics and dynamics model of carrying manipulator is established and analyzed. Then its trajectory is planed according to the above analysis. The motion relationship between supporting face and hydraulic cylinder of up and down arm is established for the carrying manipulator. So does the joint force of cylinder and the movement of rod.The hydraulic system of carrying manipulator is designed based on above relationship and the hydraulic circuit of power plant, rotary device and ascension arm are designed too. The main hydraulic components are selected and the parameters are determined.Hydraulic system simulation model is established in the software of AMEsim based on the designed hydraulic loop and component parameters. Meanwhile, we design a manipulator control system which the PID controller is the core. The interface between ADAMS and AMEsim is setup properly so as to achieve the seamless connection. And then a joint simulation model including dynamic model, hydraulic model and control model of carrying manipulator is established. Mechanical, electrical and hydraulic system model has been simulated comprehensively. Through the analysis of the simulation results, we can conclude that the designed system is reasonable, which can meet the practical production needs.