The Design Of The Gantry Vacuum Adsorption Manipulator And The Optimization Of The Main Beam Structure

Gantry vacuum adsorption manipulator design mostly by empirical method, this will lead to produce the machine safety factor is too large, eventually wasted a large number of materials, and improved the manufacturing cost. Therefore, how to ensure that the premise of safety performance, design out the overall performance of the manipulator, high is an important topic worthy of research. In this paper, we study the key contents are as follows:(1) From the cost, working speed, precision, stability, installation and maintenance, the design flexibility is linear unit plan, finally chose a suitable design scheme; Is the measure of the suction diameter of vacuum suction cups, vacuum generator and linear guide basic dynamic load rating is calculated, and vacuum, layout is calculated by means of mechanics of materials, finally, the structure design of each module.(2) Analysis of the gantry vacuum adsorption manipulator motion process, find out the six kinds of typical working condition, operating mode of the 6 kinds of typical static analysis, by comparing the static parameters, found material performance allowance is more, for topology optimization, and find out the most unstable working condition in theory. Reference topology optimization, the concept of cloud modeling and static analysis, again by comparing the static parameters before and after optimization, found that the optimized to improve the structural static strength, but the static stiffness almost remain the same. Through analyzing the contact between the gear and rack, get the value of contact stress and deformation value, in line with the requirements of materials used. Obtained by gear fatigue analysis of life, injury, safety coefficient, biaxial instructions and is sensitive to fatigue curve, find the minimum life of 232260 cycles; Gear, the minimum safety factor is 1.0474, the gear is obtained to meet the requirements of the design.Through the modal analysis of the gantry manipulator, got the first 6 order modal parameters, analyzes the main cause of the vibration mode. Combined with the harmonic response analysis to determine the fourth order natural frequency of mechanical hand stiffness. Workpiece lifting from the earth in the most unstable working conditions, the impact load will have a significant impact on structure system, therefore, the further transient dynamics analysis, the dynamic displacement response of the midspan nodes are obtained.(3) The selection of design variables, constraints and objective function,sensitivity analysis was carried out on the selection of design variables, selected variables to the larger influence on the structure size optimization. After optimization in finite element modeling and dynamic analysis, contrast specific parameters before and after optimization, the manipulator is obtained after the optimization performance has a certain improvement.(4) Using multiple point excitation method to signal data acquisition, and the use of modal STAR6.0 analysis software of data averaging, the manipulator's dynamic characteristic test data, and the results were compared with the ANSYS simulation, to verify the feasibility of aided design using the ANSYS software.