Research On Construction And Trajectory Optimization Of Pneumatic Pick-up Manipulator

In recent years,Die casting industry of China with the rapid development of automobile industry has an emergence of a changing situation,and the demand for die casting products continue to increase.With the costs labor and enterprises rising,a high degree of automation manipulator used in production workshop has highlighted its unique advantage.In this paper,we study a kind of pneumatic manipulator used to cooperate with the die casting machine for picking up.It has a reasonable movement,enough mechanical strength and the reasonable pneumatic system,so it can instead of traditional artificial pick-up of the die casting machine.The details are as follows(1)Consulting relevant literatures,and according to the requirements of the die casting machine and other peripheral devices work behand,to set the motion of the manipulator,and distribut the corresponding action the and then detennine the coordinates of the manipulator and the tree degree,finally according to the basic parameters of 200T cold chamber horizontal die casting machine,set the structure of manipulator carries on the preliminary.(2)The structure of the manipulator is optimized,so that it can run in a straight line when entering the die.First abstract the arm into the crank rocker mechanism,and in the end of the main arm abnormity pole,namely hand trajectory as the research object in mathematical modeling.Quadratic Lagrange interpolation particle swarm optimization(QLIPSO)algorithm is optimized,and compared with the standard particle swarm optimization(pso)algorithm,according to the mathematical model,using MATLAB to optimization calculate and verified the QLIPSO algorithm compared with PSO algorithm has higher accuracy(3)According to the results of the optimization,make all parts of the modified manipulator structure into finite element analysis,and use ANSYS analysis software to simulate the stress distribution of the manipulator in the process of operation,and get the different structure under the force of maximum stress and deformation.Finally accordingthe results to optimize the structures.(4)Designing the mechanical drive system,the manipulator drive is mainly compoed pneumatic drive and motor drive.Carring on the principle of pneumatic system design,and a calculation is made on the pneumatic system,and selection,the last is the pneumatic system by fluidSIM software simulation.(5)Finally,installing the manipulator from the scene,making the pneumatic copper installation and connection,and the electric control system,and use the PC WINCC to controlorder motion of manipulator,on site validation the manipulator can be in the running track and driving speed given complete piece of work.