Design And Applied Research Of The Pick-and-Place Mechanism

A pick-and-place mechanism which has been applied to grab-transfer-placement process for the general object has been designed.The driver part and the execution part have been included.The driving part is composed of 7 gears,and the executive part is composed of two arms with the same structure.The problems of low efficiency,high working intensity and dangerousness of manual operation have been solved.Work principle of the pick-and-place mechanism has been described;kinematics of the mechanism has been built.Its mechanism has been established simultaneously.Take the sugarcane segment as an example to carry out the final trial.According to the data,the sugarcane segment applied to mechanical planting is about 20 mm thick and 60 mm long.The posture of artificial planting sugarcane has been simulated in this paper.And the track of sugarcane harvest and release has been presupposed.The main task of this paper is to write the motion optimization analysis program of the mechanism,meanwhile,motion trajectory of picking sugar cane segment and relevant parameters has been analyzed.Then after theoretical analysis and three-dimensional designing,simulation has been carried out,and finally pick-and-place test has been performed.The followings are the specific contents of this thesis:(1)Pitch curve design of the main gears used in the pick-and-place mechanism has been realized,in addition,its theoretical analysis has been carried out at the same time.The mathematical model of the displacement,velocity and accelerated velocity of the claw tip point when the pick-and-place mechanism picks up the object has been established.Design principle of the mechanism has been clarified according to theoretical analysis and mathematical model.(2)According to the requirement of picking and placing sugarcane segment and the analysis of mathematical model of sugarcane segment,based on Visual Basic,parameter analysis optimization software for the mechanism has been developed,and then use that which has been designed in this paper to analyze the influence of the change of each parameter variable on the trajectory.Finally,according to human-computer interaction,the optimal parameters of the pick-and-place mechanism have been obtained.(3)The structural design of gear transmission division has been designed,as well as the clamping part.The overall mechanism has been designed finally.(4)3D modeling of all parts and virtual assembly of the mechanism are performed in Solidworks software,before we have imported them to the simulation software ADAMS.Moreover,the simulation trajectory and the theoretical trajectory in VB are compared,then we can realize the reliability and smooth movement of the pick-and-place mechanism.(5)Not only processing drawings of the pick-and-place mechanism has been completed in CAD,the drawing software,but also physical processing and assembly of the test sample have been carried out.According to the kinematics test and the pick-and-place test of the prototype of mechanism,it is proved that the pick-and-place mechanism can meet the basic design requirements.