Analysis And Design Of A New Hybrid Robot

Stamping processing occupies the important role in the mechanical processing,according to statistics,the 60% ~ 70% of the steel is the steel plate,most of which are generated by stamping products.In addition,according to the statistics of auto parts is more than 40% in sheet metal stamping parts.But,in the process of stamping process,the time of stamping parts is less than 10% of the time,in fact the other most of the time is wasted on the up-down material.At present,the manipulator up-down material were the main loading instrument,the good or bad of manipulator directly affect the efficiency of a stamping processing,therefore,to develop an efficient and practical loading manipulator is very meaningful.About the problem for a large state-owned enterprises stamping production line,combined with a series robot having a large space,parallel mechanism having a carrying capacity features,the article designed a serial hybrid press loading and unloading robot,the robot main boom,the arm,arm and tooling components.In this paper,the configuration of the serial and parallel manipulator is designed,and the forward and backward solutions are solved.The working space of the manipulator is obtained by the polar coordinate search method and the workspace is optimized.By vector product method and differential method The speed of the mechanism Jacobi matrix,and the number of conditions to determine the indicators of the speed transfer performance of the agency to determine;according to the actual work of the robot environment and work requirements,trajectory planning of the robot to achieve its efficient loading and unloading;The mechanical performance of the manipulator is verified by the simulation of the virtual prototype of the manipulator,and the feasibility curve of the manipulator is obtained,which verifies the feasibility of the design of the manipulator.