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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
P.C:
310009
E-mail:
meem_contribute@163.com
Abstract: In view of the high cost of the wheel hub handling robot in the current tire production line, a new wheel hub handling robot composed of a 3-DOF parallel mechanism platform and an end gripper was proposed.Firstly, the configuration of the parallel mechanism was determined, and the coordinate system was established. Secondly, the position inverse solution of the parallel mechanism was analyzed by the vector method. Then, the position inverse solution was numerically calculated by MATLAB programming, and the results were simulated and verified by ADAMS. Finally, the workspace of the mechanism was solved by using the search method combined with the position inverse solution equation, the influence of the structural parameters on the working space was analyzed, and the structural parameters of the parallel mechanism were determined according to the actual working requirements of the manipulator. The results show that the length variation curve of the simulated input components is consistent with the theoretical results, and the error is within 0.7mm, which verifies the correctness of the kinematic model; the working space of the robot is drawn according to the determined structural parameters. From the perspective of the shape of the working space, it satisfies the handling robot and lays a theoretical foundation for the followup dynamic analysis and prototype production of the handling robot.
Key words: handling robot; vector method; structural parameters; 3-DOF parallel mechanism; position inverse solutionanalysis; workspace of mechanism
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- Chinese Sci-tech Core Periodicals
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