Design And Research Of Petri Dish Grasping Manipulator With Assisted Colony Counting

In this thesis,with the support of Qingdao Yuanbo Inspection and Testing Technology Co.,Ltd.,combined with the actual situation of the work of the bacterial colony counting,a solution for the container crawling manipulator of auxiliary colonies counting is proposed.The manipulator is applied in the thermostat box and it can automatically grasp the petri dish auxiliary colony shooting count.The counting time is shortened by 2 to 3 times than the manual operation as high degree of automation.It is of great significance to improve the efficiency of colony counting.The overall structure scheme of the petri dish grasping manipulator is determined by analyzing the working environment and requirements,including the rotary shaft J1,lift shaft J2 and end gripper and other institutions.The whole structure of manipulator is designed by using SolidWorks software and the servo motor,ball screw,synchronous belt and other key components of the movement axis are selected and calculated.The preliminary design scheme of the overall structure of the petri dish grasping manipulator is obtained.The movement form and law of manipulator are obtained through the kinematics and dynamics analysis of the petri dish grasping manipulator.The working space simulation of the rod modal of the manipulator is simulated by using MATLAB Robotics Tools toolbox.The working space scatter plot is obtained and the result conforms to the pre-designed motion law.The dynamic simulation of the manipulator is carried out by using ADAMS software and the driver force or force,velocity,acceleration,instantaneous drive power and end displacement graph of the rotary shaft J1,lift shaft J2 and end gripper are obtained.The result conforms to the pre-designed motion form and law,the manipulator runs smoothly.It also verifies the rationality of the manipulator's structure design and the drive motor selection.The static analysis of key load-bearing components of petri dish grasping manipulator such as middle-level mounting plate of thermostat box and screw nut seat of the lift shaft J2 are carried out by using ANS YS Workbench software.The stress,strain and total deformation nephogram are obtained,which shows that its strength and stiffness are in line with the design requirements;The modal analysis of the hole petri dish grasping manipulator is analyzed and the natural frequency and vibration form of the hole manipulator are obtained,which provides reference to avoid the resonance of the manipulator.