The Design And Research A Kind Of Manipulator Used For Assembling The Components In The Narrow Space

The robot used for the assembling has a Large proportion of the industrial robot，theresearch of has developed from simple serial robot to parallel robot and Series-parallelrobot.The research on this topic design a new kind of serial-parallel structured robot usedfor the assembling of componments in the narrow space.In some narrow space，we have todemount another part in order to istall a pat in it，the design of this robot solved theproblem of assemble in the narrow space.and in some high temperature environment orcorrosive environment， we also can use this robt to prevent us from being hurt by thedangerous environment.First of all， the paper designs the whole structure of the manipulator， then anlysethe position，velocity and acceleration of the serial mechanism and parallel mechanism ofthe robot，after the analysis，Using the dynamics software Adamss verify the numericalcalculation to insure the anlysis of the robot is correct，which provides a powerfulguarantee for for the later analysis os statics and dynamics.After that the paper analyses the statics of the robot， analyses the the forcesituation of each pole of serial mechanism and parallel mechanism Under static force.thenanalyses the deformation of the manipulator which is under the staic force.Using Thefinite element simulation software ansys imitates the deformation of the manipulatorwhich is under the staic force. The paper also builds dynamics modeling of themanipulator，analyses driving force of the manipulator which is moving. Using thedynamics software Adams verifys the dynamics numerical calculation to insure the anlysisis correct，Making dynamics analysis ture and visible. The research of dynamics in thischapter lays the foundations for the design of the control system.The subject designs a control system of the manipulator in the last chapter， designscontrol circuit of hydraulic system of the manipulator.The life and the property ofhydraulic cylinder is greatly improved through the optimization of the install location ofhydraulic cylinder， Checks the strength of the hydraulic cylinder， builds mathematicalmodel of hydraulic system，Uses matlab simulation the work situation of hydraulic system，Uses matlab programme optimize the system，finally，gets the hydraulic systemwith the best control effect.