| The so-called production line is products manufacturing in the process of production on the line, which is beginning from raw materials into the production site. It is a route of a series of production line activity including processing, transport, assembly, test and so on. The automatic production line is joining more than one production processes, which realize products of the production process to run automatically.This research is based on the research of transposition manipulator in the card hoop production line in order to realize the automatic production. A3-DOF special transposition manipulator which can grab fern thickness is designed and some key technologies such as: Structure design, kinematics, virtual prototyping technology and simulation and control system design were researched. Subsequent research contents and conclusions are presented as follows.On the basis of analysis of the features of the structure of industrial robots and card hoop and according to the design requirements and field work environment, we have determined the type and main parameters of the manipulator mechanism. Through the calculation, these standardized parts for manipulator were selected. By using software of SolidWorks, the virtual prototype of the manipulator was setup. Then the manipulator’s kinematics equations were set up and solverd by the method of D-H, Based on the software of ADAMS, the mechanism was simulated and analyzed, then its endeffector’s displacement, velocity curve were obtained, which provides an important reliance for the control of the manipulator. And the correctness of kinematids model is verified by simulation results; The SolidWorks Simulation is used to analyse the mechanical arm strength in order to sure its reasonable size. Finally, the robot control system design has been completed, it mainly completed software and hardware design of the servo control system. The control system is with programmable controller as the core, which realize the control of the manipulator and the circular machine. By studying, I acquire the technology of controlling servo driver by servo motor, and ultimately it achieve controlling the servo motor by the PC. |
