Analysis And Design On The Novel Hybrid Feeding Manipulator

Industrial manipulator is an important modern manufacturing automation equipment integrated with advanced technology such as mechanical, electronic,control, artificial intelligence and other disciplines. At present, the development of manipulator is mainly to buy foreign parts to assemble in our country, the product with independent intellectual property rights is not common, the development of new type of feeding manipulator is significant.A novel feeding manipulator used in stamping production line is designed. This manipulator consists of arm, forearm and end-picking device. Configuration of the arm is 6-PSS parallel mechanism. The forearm is also known as extended arm. Its configuration is linear moving mechanism.Firstly, the Jacobin matrix and inverse position solution of the 6-PSS parallel mechanism are solved, then its positive position solution is also solved based on the Jacobin matrix. The workspace of manipulator is drawn. The influence rules between the geometrical parameters of the manipulator and workspace volume are revealed.According to the analyzed results, a set of the manipulator geometrical parameters are selected.Secondly, criterions for explaining 6-PSS parallel mechanism local and global kinematics isotropic performance are defined, as well as the static isotropic performance. The criterions can help to analyze the distribution of sotropic performance and the influence of parameters of mechanism on isotropic performance.Using the vector differential method, the error model of this arm is established.Meanwhile, the influence of each error source and the geometric parameters of this arm on output error are analyzed. The stress displacement deformation of arm is analyzed by ANSYS. Lagrange method and Newton-Euler method are used to solve the dynamic equation of 6-PSS parallel mechanism, and simulation curves of it is drawn by MATLAB.Finally, the manipulator prototype is designed and simulated by Solidworks andAdams, these results lay the practical theory foundation of research and development of the manipulator.