Kinematical Analysis and Simulation of High-Speed Plate Carrying Manipulator Based on Matlab

In order to construct the more effective kinematics method for industry, by taking a high-speed plate handing robot as an example, the structure and parameters of the robot linkages are analyzed, and the standard Denavit-Hartenberg method is applied to establish the coordinates and the kinematic equation of the linkages. Depending on the graphics and matrix calculation ability of Matlab especially including the Robotics Toolbox, the handling robot has been modeled and its kinematics, inverse kinematics and the trajectory planning have been simulated. Therefore, the correctness of kinematic equation has been verified, meanwhile, the functions of displacement, velocity, acceleration and trajectory of all the joints are also obtained. In a further step, this has verified the validity of all the structure parameters and pro- vided a reliable basis for the theoretical research on the design, dynamics analysis and trajectory planning of the ma- nipulator control system.

高速板材搬运机械手的动力学仿真研究

为了方便、准确地对所设计的高速板材搬运机械手进行动力学仿真分析,利用SolidWorks软件强大的建模功能对机械手进行三维实体建模,然后通过SolidWorks和ADAMS良好的数据接口将模型数据直接导入ADAMS,根据实际设计要求添加相关约束,在此基础上进行动力学仿真,测量重要部件的位移、速度、加速度和力的变化情况,通过观察它们的运动轨迹及相关曲线的变化趋势,对设计阶段的产品进行虚拟性能测试,以便及时发现设计中存在的问题并进行改正。

高速传料机械手机身的有限元分析

为提高冲压生产线传料机械手的传送精度,对机械手的机身进行了有限元分析。分析了机身的结构特点,运用ANSYS软件对其进行静态和模态分析,得到机身等效应力云图、应变云图以及前六阶固有频率和相应振型。结果表明,机身有较大的优化空间,为下一步机身的优化提供了理论依据。