Design Analysis And Test Of Grab Manipulator For Gear Processing Automatic Line Unit Platform

At present,in many small and medium-sized machinery manufacturing enterprises in China,many high-risk and highly repetitive tasks are still done manually.In the foreign industrial robot market,well-known brands of industrial robots in various countries are generally expensive and have high maintenance costs,which restricts the widespread application of small and medium-sized enterprises in China.Under this circumstance,this article designs a kind of gear automatic production line unit platform gripping manipulator according to the actual needs of enterprises.The purpose is to replace the manual completion of gear gripping,transfer,placement,etc.,so as to improve the efficiency and level of enterprise automated production.The production line unit platform can flexibly set production tasks and beats,and intelligent combination with the robot can save production time,and can also facilitate the development of schedules for the tasks of the robot.First of all,based on the application and characteristics of industrial robots at home and abroad,and in combination with the actual production requirements of the enterprise,a 6-degree-of-freedom gripping robot with an outer diameter of less than200 mm and a mass of 4.3 kg or less is designed for gripping.Take the gear blank and transfer it to the machine tool fixture,and at the same time,the finished gear will be transferred and placed.In the process of designing the grab manipulator in this article,the overall design plan and transmission system must be determined,the structural design of the main parts,and the 3D solid modeling using Solid Works software to complete the selection and design of key components.Secondly,the coordinate system and parameters of each link are defined using the D-H parameter method based on the pose description and coordinate transformation of the manipulator.The homogeneous transformation matrix method and the pose matrix general formula are used to establish the kinematics equation of the manipulator,and the inverse matrix of the pose matrix is used to inverse the kinematics equation to obtain the rotation angle of each joint.Thirdly,the finite element analysis software was used to perform static analysis on the boom and forearm of the grab manipulator,and the strength and stiffness of the boom and forearm were verified to meet the reliability requirements by analyzing the stress and total deformation cloud images.Perform modal analysis on the gripper in order to obtain the natural frequency of each order,and also provide data reference for the vibration test and dynamic analysis of the manipulator;apply ADAMS software to simulate the analysis of the gripping manipulator in order to obtain the end points of the manipulator and the gripper Performance characteristics,and at the same time provide a reference for the design of the gripper control system.Finally,the trajectory planning of each joint of the gripping manipulator is performed using the cubic interpolation method.The gripping,transfer and placement of gears of the prototype robot were tested to verify whether the trajectory planning of each joint was reasonable and whether the scale of the prototype met the overall design requirements of the gripper.