Structure Design And Simulation Of Double Electromagnetic Sucker Loading And Unloading Manipulator

At present,in the process of automobile anticollision beam welding,most enterprises still use manual loading and unloading,the way is a low efficiency.And this way could not meet the market demand,so a manipulator is needed to replace manual worker.he manipulator has many advantages,such as reducing labor cost,improving production efficiency and product quality,and ensuring operation safety.The grab workpiece anticollision beam is composed of a bracket and a round pipe.It is difficult to grab the material of the anticollision beam.In order to overcome this difficulty,it is designed that a kind of curved surface and flat surface combined electromagnetic chuck,and two electromagnetic suckers are symmetrically installed on the adjustable connecting arm to form an adjustable double electromagnetic chuck mechanical claw.In addition,it is designed that a six-joint manipulator body,the double electromagnetic chuck manipulator claw installed on the six-joint manipulator body,the composition of double electromagnetic chuck loading and unloading manipulator.The main research work of this paper is as follows:(1)Structural design and magnetic simulation analysis of the curved and flat combined electromagnetic chuck and design of the mechanical electromagnetic gripper of the double electromagnetic chuck.In this part,Caxa software is used to establish the two-dimensional structure of the combined electromagnetic chuck.Then according to the size and structure of the two-dimensional structure diagram,the Solidworks software is used to establish the three-dimensional model of the combined electromagnetic sucker,and the two electromagnetic suckers are mounted symmetrically on the adjustable connecting arm to form the adjustable double electromagnetic sucker's mechanical gripper.The electromagnetic force required by the combined electromagnetic chuck in the loading and unloading process was analyzed theoretically and the electromagnetic simulation analysis was carried out in Maxwell software.(2)Body structure design of six-joint loading and unloading manipulator.In this part,a six-joint manipulator body is designed,then,the installation position of each joint motor and the scheme of transferring torque between each joint are determined.(3)Kinematic analysis of the manipulator body.The coordinate system of manipulator connecting rod is established,and the kinematics is solved with analytical method and column D-H parameters.And in Matlab software programming files,the establishment of a GUI human-computer interaction interface,verify the correctness of the kinematics equation and programming as well as the structure of the manipulator is reasonable.(4)Dynamic analysis of the manipulator body.The dynamics equation of manipulator is established by Lagrange method.The dynamic simulation analysis is carried out by ADAMS software.By observing the post-processing curve,the end displacement and angular velocity and acceleration curves and torque curves of each joint of the manipulator in the loading and unloading process are obtained.After analyzing the change of post-processing curve,it is found that the simulation process has no stuck phenomenon and can meet the predetermined requirements.