Design Of The Underactuated Manipulator For Automatic Materiel Loading And Unloading

At present,the six degrees of freedom of series manipulator was used for operation,the utility model has the advantages of flexible motion and large operating radius,however,there were many disadvantages,such as multi motor control,complex control system,high cost and so on.The existing the material loading and unloading operations were often only realized by using two degrees of freedom,or three degrees of freedom,six degree of freedom joint manipulator is not suitable for this kind of work.According to the characteristics of the loading and unloading work,the underactuated manipulator was designed in this paper.The technical specifications and working principle of the material loading and unloading underactuated manipulator were firstly analyzed in this paper,the mathematical model of the linkage of the key parts was deduced,which is used to determine the position of the encoder and the brake,the relationship between the motion of the manipulator and the length of the joint and the rotation angle of the two kinds of motion modes was found.At the same time,the virtual prototype model of the linkage mechanism of the key components was established,and the simulation experiment was carried out by using ADAMS software to verify the working principle of the underactuated manipulator.At the same time,the simulation results were compared with the theoretical results of the linkage mechanism,the differences between the two were identified and their causes were analyzed.According to the technical and theoretical analysis and simulation test results of underactuated mechanical arm for material loading and unloading in this paper.The structure and selection of the components were designed by Solidworks,the virtual prototype was designed.The underactuated manipulator adopts the supporting mechanism with roller as the base,and the linkage mechanism was driven by the step motor to control the movement of the end holder.The position of the mechanical arm can be measured by the angular displacement sensor to measure the rotation angle of the joint,and the electromagnetic brake was used to lock and release the frame to realize the two motion modes of the connecting rod mechanism.ANSYS analysis software is used to analyze the key components of the manipulator in this paper.The results show that the design of the key components is reasonable.In addition,The modal analysis of the underactuated manipulator linkage mechanism is carried out in ANSYS workbench to verify whether the resonance phenomenon occurs in the movement of the manipulator in this paper.Based on the results of modal analysis,the resonant frequencies of the rod mechanism are 80Hz and 100Hz,the motor drive of 30 revolutions per minute not cause the movement of the underactuated manipulator resonance,and not affect the positioning accuracy of the manipulator.