Key Technology Research Of Carrying Manipulator With 5 Degrees Of Freedom

With the increasing year by year of labor cost and the need of the work in the harsh production environment, in order to reduce costs and improve work efficiency, the demand for industrial robots is increasing. In all kinds of industrial robots, design of industrial manipulator for heavy payload is complex. As the load increases, mechanical deformation will increases, and the system’s energy consumption will be raised, the control will be also more difficult. In view of the above questions, this paper studies the key technology of design for the large load industrial manipulator by studying transportation manipulator for wheel.This paper expounded the design of mechanical structure and control system for heavy load industrial manipulator with five degree of freedom. This design includes the transmission mode of manipulator, the mechanical structure and design of control system based on SIEMENS S7-200 PLC. The transmission mode includes hydraulic transmission, pneumatic transmission, mechanical transmission and electrical transmission. The combination of pneumatic technology and servo motor is selected as the lower cost; according to economic tolerance, the pneumatic project based on the balance valve is designed; the structure of each joint of the manipulator is described in detail; as the rotary motion of the wrist needn’t to stop at any angle, the control mode without stepping motor is designed; Under a heavy load, power consumption should be made as low as possible, so the design of the torque transmitted through the chain transmission have been made. This design can shorten the arm of turnover mechanism of wrist. In the design of mechanical structure, the ANSYS Workbench is used to analyze the frame parts. These analyzes include topological analysis, strength analysis and fatigue analysis. On the whole structure of the manipulator, the contact analysis is carried out to simulate the total deformation. And the influence of the deformation is evaluated. Based on the SIEMENS PLC S7-200 and SIEMENS Smart1000 IE touch screen, the control program and touch screen control interface have been designed. The solid modeling and assembling of the important parts of the manipulator is completed. And based on these, the interference checking and organization movement simulation are carried out, so that the mechanical hand plan is in line with the requirements in the space movement.In this paper, the designs of large load carrying manipulator have been designed as compact structure, high mechanical efficiency, convenient and reliable for control. It provides a reference for the design of heavy load industrial manipulator.