The Research And Design Of The New Type Steel Strapping Manipulator

Steel pipes are widely used in the different areas of the domestic economy construction.The strapping package of steel pipes is the final procedure of steel pipes'production process.The new type steel strapping manipulator is the device that adopts the scrap steel to package the steel pipes.The new type steel strapping manipulator is a joint manipulator device in serial,which is employed in a planar three degrees of freedom essentially.The present study mainly investigates the steel pipes,whose perimeter ranges from 21.3mm to 114mm,the researcher studies and designs comprehensively on the new type steel strapping manipulator.The content conveyed in the research is presented as follows:1.The overall design of new type steel strapping manipulatorThe present study investigates the baled hexagonal steel pipes,and the researcher puts forward the strapping manner as well as designs the overall structure.According to the analysis of relevant parameters of the baled hexagonal steel pipes,the relevant key parameters are calculated.2.The kinematics analysis of new type steel strapping manipulatorBased on the kinematics analysis of the new type steel strapping manipulator,the researcher builds the kinematic equations to figure out the device's joints variables?₁??₂??₃and the joints angles?₁??₂??₃.Making the movement trajectory of the new type steel strapping manipulator contributes to determine the movement trajectory of the end effector's reference point.3.The dynamics analysis of the new type steel strapping manipulatorDoing the speed analysis,dynamics analysis and the force analysis arise from the steel band's bending defection.The researcher solutes the kinetic equations of steel strapping manipulator and determines the theoretic load value of gripper.4.The lectotype calculation of servomotor and reducer of each axisHaving the statics analysis of new type steel strapping manipulator,the lectotype of each joint axis'electric motor and reducer are determined based on the theoretic load value of the manipulator,5.Three-dimensional modeling,simulation and finite element analysis of he new type steel strapping manipulatorMaking the three-dimensional modeling on the new type steel strapping manipulator,and practicing the kinematics and dynamics simulation in the ADAMS.However,these benefit to the further check to the relevant theories in kinematics and dynamics areas.According to the finite element emulation analysis of steel band in ADAMS,the force simulation of steel band's bending defection is solved.6.The research and design of new type steel strapping manipulator's terminal clamping mechanismThe researcher designs the basic structure of terminal clamping mechanism,and practices the mechanical analysis to determine the force increasing ratio,and it helps to finish the collection of cylinder.In terms of the analysis of a clamping mechanism's working process,the researcher designs the control system of clamping mechanism system.Besides,the control system is easy and dependable.