Design and research on a new pneumatic manipulator for NC machine

MA Liang1, ZHANG Qingfeng2, GU Jinan2
(1. Engineering Technology Associates（Shanghai） Inc., Shanghai 200030, China;
2. Mechanical Information Engineering Research Center, Jiangsu University, Zhenjiang 212013, China)

Abstract: Aiming at the market needs of CNC machine toots, a new type of CNC machine tool clamping economic manipulator was designed, through an adjustment, it can be a kind of automatic work piece clamping and unloading. Using nonlinear programming techniques, the optimal size of the robot structure was gotten, using the theory and application of pneumatic servo pole placement technique, the robustness of motion was improved. Under ensuring the case of work well, the problem quickly and effectively locate was solved, its approach was explored to achieve optimal control. In analysis of multimechanics kinematics, the manipulator multimode dynamic kinematics model was established, and a mechanical hand throughout the process of the virtual prototype model of the motion simulation was implemented, the manipulator motion simulation data was provided to verify the manipulator feasibility for subsequent detailed design of the new robot.
Key words: manipulator; virtual prototypes; pole assignment; nonlinear programming