Simulation Study And Design Of The Storage Robot For Book-attached Disc

With the wide spread of computer technology and multimedia technology, the attached disc ratio of books and magazines becomes higher and higher. How to efficiently manage the CD attached to books is a problem that each library must face. To design a simple structure that is easy to control and saving to the installation space is a new approach to solve this problem.The thesis has done studies on the basis of structures reseaches according to single mast retrieval machine, Cartesian-coordinate robot and the space extensible structures. The author designs a storage robot for book-attached disc that is simple structure, larger workspace, big stroke ratio, low inertia, fast speed, ease of manufacturing and maintenance, low cost. The specific work is as follows:(1) With regard to the main mechanism of the storage robot for book-attached disc: designed and modeled the scissor mechanism of level operation device, the tooth belt of vertical mechanism and the pallet fork mechanism; as of design the drive device of scissor mechanism,firstly, designed five driving ways, then, using the rigid and flexible couping model of scissor mechanism contrasted and simulation studied on displacement, velocity, acceleration and power consumption to the five driving ways by ADAMS/View module, at last, determined the driving way of the scissor device and design and model the drive device of scissor mechanism.(2) Analyzed the kinematics problems of scissor device to the storage robot for book-attached disc which include the position, velocity and acceleration. Deduced the equation to increase distance ratio; optimized the head and tail end position of the level driving pole, and simulation analyzed the scissor device input and output to distance relationship about optimization by ADAMS/View module.(3) Structural vibration on scissor device was analyzed in theory, and vibration simulation analyzed on scissor device by ADAMS/Vibration module, obtained vibration testing characteristic which provides reference for configuration design of scissor device.(4) Precision analyzed on scissor device, analyzed the two scissor pole length error to accuracy influence of the whole device which provides reference for precision design of scissor device.Base on simulation and design of the storage robot for book-attached disc, the thesis makes a positive discussion for solving ineffective CD management of book institutions. However, because of the complexity of dynamic performance of the robot, a lot of research in noise and mechanical properties needs to be done.