Performance Analysis And Desigin On The New Hybrid Manipulator

Stamping is an important machining method.It occupies a large proportion.in the national production of various fields.And the loading and unloading manipulator is an important component in the automated pressing production line.To meet the needs of automatic stamping production line,the studying of the independent intellectual property rights of the new stamping loading and unlongding manipulator has a very important significance.According to the actual demand of punching production line,the design index of the manipulator is determined.And a novel manipulator of loading and unloading structure is proposed,The 3D model of the manipulator is established,which is composed of rack,arm and tooling.And the finite element analysis of the manipulator was carried out.Based on the working cycle of the pressing line,the trajector y of the end of the manipulator was worked out,and the motion curve of the end of the manipulator was obtained.The position and inverse solutions of the manipulator are analyzed.The workspace of the manipulator is solved based on the position inverse so lution.And the influence of the mechanism parameters on the working space is studied and the parameters of the manipulator are determined.The kinematic Jacobian matrix of the manipulator is solved.Based on the kinematic Jacobian matrix,the velocity var iation and the number of condition numbers of each manipulator are analyzed in the motion path of the manipulator.Through the simulation analysis,the correctness of the kinematics of the manipulator and the feasibility of the trajectory planning are verified.Based on the Jacobi matrix,the force Jacobian matrix of the manipulator is solved.By applying the load of the manipulator,the force and the number of conditions of each driving force are analyzed in the motion path of the manipulator.The error model of manipulator is established,and the main error source of manipulator is given.