The Research And Development On Manipulator For Grabbing Porous Plate

Bacteria appraisal process including plus sample, training and the reading processof the specimens, at present, because of the automatic bacteria appraisal equipment isexpensive overseas, and the domestic equipment automation level is relatively low,lead to many small medical institutions in domestic still use manual to plus sample anddirectly to grab the porous plate. In order to improve the efficiency and accuracy of thebacteria appraisal, improve the working environment and reduce the working strengthof the medical staff, avoid bacterial infections of the inspection personnel, it isnecessary to realize the identification process of bacteria automation. The automationof grabbing the bacteria cultures of the porous plate is part of a very important link. Sothe study is very necessary.This paper first combined with job requirements of the manipulator for grabbingporous plate, through analyzed the mode of motion, determined the coordinates formand the space freedom of the manipulator; completed the drive system andtransmission system design and the modeling and models of virtual assembly in Pro/Esoftware, Then, based on the structure form of porous plate of the bacteria cultures,designed the right end actuators of manipulator, and analyzed the force and angle ofgrippers, obtained the relationship of clamping force between driving force and thesize value of angle of the end actuators. Then, through the CAD software specialinterface imported the assembly model of manipulator virtual prototype into analysissoftware ADAMS, to the kinematics simulation of the manipulator; to model in whichapplied to constraints and drives, set the drive function and completed simulationanalysis, then got data curves in software. Finally imported the key model componentsinto ANSYS to finite element analysis, get the stress and displacement illustrations ofkey parts, provided the basis for the rationality of the design and the improvement ofthe equipment.This thesis completed a preliminary study for the manipulator of grabbing porousplate in bacteria appraisal instrument, laid a foundation for the research anddevelopment of the whole system, have a certain reference and application value.