Research Of The Manipulator Used To Feed And Carry Materials For Micro-drill

The manipulator can imitate the hand’s action of human and can crawl, carry and handle materials automaticly according to a given program, track and requirements. Based on the application of a new CNC micro-drill grinding device, the development status and prospect of the manipulator at home and abroad are introduced. A design scheme of the manipulator used to feed and carry materials is presented after analysised the the manipulator’s structure characteristics and the structure of two different manipulator. According to the needs of this new CNC micro-drill grinding device, the principle of the lateral mobile sector is analyzed, and the timing belt, transmission belt reducer, motor, rotating sector and finger are designed. Then the main parameters and sizes are gained.The parameterization model of the manipulator is gained using three- dimensional design software Pro/Engineer so that the model is very easy to modify. The frame model and the top-down technology are discussed. The three-dimensional model of the manipulator is assemblied virtually so that can check the interference easily. Then the three-dimensional model is introduced into Adams through the Mech/Pro software. The displacement, velocity and acceleration, force, and other relevant information of the moving parts can be gained.The kinematic mathematical model of the manipulator is gained using homogeneous matrix theory after analyzed its posture and movement. And the vector equation of the end of this manipulator is gained. Then the solving methods of the positive and inverse questions are discussed. Some kinetics analysis methods are compared then the dynamics model of the end of the manipulator is analyzed.Based on the theory of Multi axis kinematics and homogeneous transform matrices, a new integrated errors analysis method is presented. This method divides all the errors into six for error modeling which are along with the direction of six degrees of freedom. It makes a decrease of error analysis and matrix calculations. Then the error model of the manipulator used to feed and carry materials is gained using the analytical method, and the error simulation is carried out using the Monte Carlo method. The simulation results show that the accuracy of the moving parts close to the base should be improved during the manufacturing and installation process, at the same time the detection and control of angular errors should be paid special attention, as well as the long journey moving parts. A manipulator used to feed and carry materials is designed in this paper which can make rapid response and have high precision. The kinematics and dynamics performance are studied and the errors are analyzed. It has theoretical and practical meaning to the manipulator used to feed and carry tiny materials.