The Grab Design Of The Five-DOF Manipulator

Since twenty-first Century, robot technology develops rapidly as one of the forefront ofhigh-technology, and robots are widely used in all walks of life. In industry, it is mainly usedfor welding, assembly, handling, processing, spraying, palletizing and other complexoperations. Robot technology is the innovative and high technology, which combinesmulti-disciplinarians, such as computer, control theory, mechanism, information and sensortechnology, artificial intelligence, bionics. The application of robot represents a nationalhigh-tech level and the degree of industrial automation.At present, the domestic automatic palletizing and handling equipment mainly rely onimports, domestic equipment manufacturers is relatively few and handling robot technology isnot very mature. The contradiction between low efficiency and yield increasing of our manualis prominent increasingly, therefore the research of the robot has great economic meaning andthe practical significance.The system application of mechanical hand is used in moving, grasping with rice as theobject studies in this topic. Mechanical part, drive part and control part of the robot aredesigned according to the rice handling condition. Based on the mechanical structure design,working space analysis is simulated borrowing from the forward kinematics results usingMATLAB software. The simulation results show that, the design of motion scheme formanipulator meets the space requirements in this subject, that is manipulator movements meetthe requirements for range of motion, including waist turning, big arm vertical direction,small arm horizontal telescopic, wrist pitch movement and the gripper opening and closingmovement. The chip DSP TMS320F2812is used for main control, stepper motor motion stateis controlled by the chip through the collected signal feedback of the proximity switch and atactile sensor. On the basis, hardware connection diagram, manipulator control main program,tactile and slip signal data processing program and control chart of the stepper motor aredesigned, completing the control section design of mechanical hand. The design of graspingobjects for mechanical hand is completed theoretically through the design of mechanicalsystem, drive system and control part of the robot in this present paper.