Study And Design Of Pharmaceutical Filling Robotic Arm

This paper derives from a project of a pharmaceutical machinery company. And the pharmaceutical filling machine made by this company has some deficiencies in working because of its design which is based on cam mechanism. In this paper, a new filling machine is designed with the name of filling robotic arm, which is based on 3R manipulator. The filling robotic arm is driven by servo motor offering compact size and high flexibility in filling operations. What is more, the filling robotic arm is ideal to be sterilized, and suited for installations under isolators.The filling tracking system, which is the main factor effecting performance, is studied in the first of the paper. And the trajectory of the nozzle is planned by referencing the curve of the cam mechanism of the filling machine made by the company. After that, by simulating of the model of kinematics and dynamics, a lot of design parameters are acquired which would be used in structural design of the filling robotics arm.In the next place, a detailed designing process of the filling robotics arm is presented, including the design of the shoulder joint, the elbow joint, the wrist joint and the servo motor. And a innovative solution is proposed in this paper to the problem about how to keep the nozzle carrier horizontal during working period. The solution is based on metal belt transmission mechanism, and some key components of the mechanism are also studied in this paper, such as the wound style of the metal belt and the tensioning mechanism.At last, a coordinated simulation system of the filling robotic arm is built by using MATLAB and ADAMS. And all joint angles of the robotic arm are precisely controlled with a PD control strategy, which indicates that the robotic arm can trace the planed trajectory well.