Motion Analysis And Research On Mobile Swing Type Manipulator

Industrial manipulator generally applied in enterprise automation production line, cancomplete loading and unloading material, assembly, painting, welding and other tasksautomatically according to the control system, realize the automation and unmannedoperation. At present, most used for loading and unloading operation tasks manipulator arestill belongs to the first generation of "teach reappearance type" manipulator.Research on mobile swing type automatic loading and unloading manipulator, isunder comprehensive consideration the actual situation of the enterprise production linework tasks, work environment and the fund budget, so as to design a kind of mobile swingtype manipulator that enterprise can use to fulfill loading and unloading operation tasksautomatically. In this paper, the kinematics of the mobile swing type manipulator isanalyzed and studied, mainly including the mechanism type selection, establish theend-effector pose equation of motion, trajectory planning, and constructsthree-dimensional entity model of the manipulator for kinematics simulation operation, themain research contents of the subject is as follows:First of all, the main components of the mechanical parts of the manipulator areanalyzed and studied, and according to the requirements of the actual task, select theparallelogram mechanism as tilting mechanism of mobile swing type manipulator,eventually determine the organizational form of the mobile swing type manipulator.Secondly, using the D-H method to establish coordinate system for each link of themanipulator, through homogeneous coordinate transformation matrix theory deduced thepose coordinate transformation matrix that the end-effector relative the base coordinatesystem.Again, describes the operation trajectory and the completion of each target action ofthe manipulator, use of linear time interpolation theory to the motion trajectory for linearinterpolation calculation, and calculated the corresponding joint displacement of eachinterpolation point. Finally, by using three-dimensional drawing software UG to construct entity model ofthe manipulator, and transfer it to dynamics analysis and simulation software ADAMS fileformat, use of ADAMS constraints function module to add constraints and drive for eachjoint of the entity model, carries on the kinematics simulation analysis, eventually outputthe movement characteristic curve of each joint and end-effector of the manipulator.