Design And Research Of Underactuated Pneumatic Manipulator

The world is facing a huge energy crisis and environmental crisis.In order to find new ways to solve this problem,the state has made great efforts to develop the photovoltaic industry,using solar power generation instead of traditional power generation.The demand of carbon fiber curing felt which is widely used in solar polysilicon furnace,monocrystalline silicon furnace and semiconductor furnace is also increasing day by day.In order to solve the problems of high dust,high manufacturing cost and low production efficiency in the production workshop of carbon fiber cured felt,a pneumatic manipulator based on PLC control is designed for loading and unloading of carbon fiber cured felt.The pneumatic manipulator realizes the functions of multi-size adaptive clamping,accurate transportation of materials and automatic loading and unloading,which saves labor,promotes safe production and improves product quality.The main research contents and results of this paper are as follows:First of all,according to the design goal,the overall scheme of the manipulator is designed.Combined with the overall scheme,the manipulator is divided into three modules:mechanical system,drive system and control system.The design of mechanical system module mainly includes the structure design and cylinder selection of small arm telescopic,large arm lifting and base rotation.In this paper,an underactuated mechanical claw is designed to adapt to grab different sizes of materials.Then,based on the homogeneous transformation,the kinematic and dynamic theoretical analysis is carried out.Finally,the feasibility of mechanical system is verified by ADAMS simulation.In order to verify the grasping effect and grasping ability of underactuated mechanical claw,the statics model of mechanical claws is established,and the grasping force of each knuckle is theoretically analyzed by virtual work principle.The dynamic simulation of underactuated mechanical claw is carried out by ADAMS,and the influence of different torsional spring stiffness on the knuckle contact force is analyzed.The envelope clamping simulation analysis of different sizes of materials is carried out,and the clamping force of each finger and the clamping posture of the mechanical claw are obtained.It is proved that the mechanical claw meets the design requirements.In order to control the position of the cylinder,the pneumatic drive circuit is designed,and the general schematic diagram of the pneumatic control loop is completed.Combined with the schematic diagram of the design,the selection of pneumatic components is completed.According to the execution action requirements and system security requirements,the control system is designed.Finally,the 1:4 prototype is built by 3D printing technology,and the prototype experimental results show that the designed pneumatic manipulator runs accurately and smoothly,the control performance is good,and the underactuated mechanical claw can complete the clamping action.The pneumatic manipulator designed in this paper has the advantages of low price,high efficiency and energy saving,safety and reliability,and strong adaptability.Through theoretical analysis,simulation analysis and prototype experiments,it is verified that the manipulator can be used for loading and unloading in the processing process of carbon fiber cured felt.The whole system has certain reference value in the field of non-standard automation.