Design And Simulation Of Loading And Unloading Manipulator Of A Production Line

The loading and unloading manipulator is playing an increasingly important role in automation factory,flexible production line and other fields due to its advantages of good stability,strong carrying capacity and high precision.At present,most manipulators are designed by experiential design method,which leads to too large safety factor,a waste of materials and an increase in manufacturing costs.Therefore,on the premise of ensuring a reasonable safety factor,the manipulator can be optimized to improve its comprehensive performance,which can provide certain reference for the system design of the manipulator.This paper takes the loading and unloading manipulator of an automatic production line as the research object.Firstly,the design requirements and technical parameters of the loading and unloading manipulator are determined by comprehensive consideration of customer needs and hardware and software conditions,and the transmission scheme of the loading and unloading manipulator is developed.On this basis,the structural design of the main components of the loading and unloading manipulator is completed.The ADAMS software is used to simulate and analyze the grasping stability of the end effector of the core component of the loading and unloading manipulator.The results show that the end effector can achieve stable grasping tasks during the operation of the loading and unloading manipulator.Secondly,through the analysis of the trajectory of the loading and unloading manipulator,the motion parameters in the operation process are determined.The kinematics simulation results of the loading and unloading manipulator by ADAMS software show that the operation process of the manipulator is stable and the collision between parts is small,which verifies the stability of the loading and unloading manipulator movement.The maximum force and torque of the loading and unloading manipulator were obtained by the force analysis.The ADAMS software is used to carry out dynamics simulation analysis on the loading and unloading manipulator,and the correctness of the results of mechanical analysis is verified.Thirdly,based on the dynamic analysis,the Static Structural plate in ANSYS Workbench is used to establish a simplified finite element model of the X-axis and the column of the support,and the Static simulation analysis is carried out.The simulation results show that both the X-axis and the column can meet the design requirements,and there is room for lightweight design.Contact analysis and service life analysis are carried out on the gear rack and roller guide rail of the transmission parts.The analysis results show that the selected transmission parts meet the design requirements.The modal analysis of the whole structure of the manipulator is carried out,and the vibration shapes and frequencies of the first six modes are obtained.It is determined that the manipulator will not be affected by the vibration of the driving force in the operation process.Finally,topology optimization and size optimization are used to carry out the lightweight design of the loading and unloading manipulator support assembly.By comparing the static simulation results before and after optimization,it can be seen that the mechanical properties of the model before and after optimization are basically unchanged,and the mass is reduced by 14.24%,which verifies the feasibility of the optimization scheme.