Parametric Modeling And Characteristics Of Parallelpick-place Robot

The parallel robot has been gradually used in many automated productionplant,especially certain situations such as material handling, quickly pick-place, machining,packaging, etc.This paper is based on the application background of the parallel robot usedin the food packaging production of the massive food pick-put operation,studying on aparallel pick-put robot which rapidly pick bean on the conveyor belt and put it into thepackaging film. When the size or rows of bean change,the operating space of the parallelpick-put robot would change,the overall size of the robot would change.In order to avoidthe tedious repetitive work of the parallel pick-put robot re-modeling when the overall sizechange,in this paper the parametric modeling and characterization studying of the parallelpick-place robot are as follows:Design the robot parametric modeling process,constructing the general scheme ofparametric software interface,researching the positive and negative solution of the parallelpick-place robot, calculating work space according to location positive solution.Based on C++and Matlab mixed programming principles, establishing the positiveand negative solution parametric software platform.Calculating work space according topositive solution. Calculating the motor output angle according to negative solution.The use of secondary development tool of Pro/E three-dimensional software,establishing three-dimensional parametric software platform. Researching on the key partparameterization and three-dimensional model parameterization; creating a database, savingstorage location and file name of robot re-modeled to the database.Making model analysis according to the robot re-modeled, reaching the body naturalfrequencies and mode maps of the parallel pick-place robot. Researching robot weak part ofthe whole design according to modal analysis, then put forward suggestions for structuralimprovements.