Study On Kinematic Performance Analysis And Mechanism Parameter Optimization Of Swing Manipulator

In response to the call of the “national 2025 plan”,to improve the manipulator has good dynamic performance in high speed and stable state,reduce the manipulator working time,and improve production efficiency,so a mechanical hand can automatically complete the feeding operation of machine under improvement.In this paper,a two degree of freedom swinging manipulator satisfying the actual needs of enterprises is studied,including mechanism analysis,kinematics analysis,kinematic performance analysis and parameter optimization,which improves the motion performance of the manipulator,reduces the error of the manipulator's motion trajectory and improves the automation level of enterprise production line.First,the mechanism sketch of the swing manipulator is proposed,the main mechanism is analyzed and discussed,and the advantage of the parallelogram mechanism as the swinging mechanism is determined,and the degree of freedom of the swing manipulator is discussed.The motion model of a swinging manipulator is established by using the D-H parameter method,and the motion equation of the swinging manipulator is obtained and its positive and inverse kinematics solutions are obtained.Secondly,based on the manipulator kinematics equation,the Jacoby matrix is obtained,manipulator singularity in the working space is analyzed,three performance index are analyzed including the condition number,the smallest singular value and manipulability used to characterize the manipulator dexterity,and velocity performance index.At the same time,the performance indexes of the current manipulator are analyzed and the atlas is set up.Furthermore,regarding the rod length as design variables,the three comprehensive performance index as the objective function,the given space,the condition number index,manipulability index and speed performance index as various constraint conditions,an optimization parameter model of mechanism is established.The parameters of the mechanical mechanism are optimized.Finally,with the help of Matlab software,the performance index of the optimized manipulator is simulated,and the performance index of the optimized manipulator is compared and analyzed,which validates the correctness of kinematics analysis and the rationality of the optimization of component size parameters.The trajectory of the manipulatoris analyzed.Eorror analysis of manipulator trajectory before and after optimization is made,confirming that the motion performance of manipulator is improved after optimization.