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Kinematics analysis of a new type of wheel hub handling robot
Published:2022-12-20 author:YU Hai-yan, WANG Xiao-lei, LI Xiao-dan. Browse: 685 Check PDF documents
Kinematics analysis of a new type of wheel hub handling robot

YU Hai-yan, WANG Xiao-lei, LI Xiao-dan

(College of Mechanical Engineering and Automation, Liaoning University of Technology, Jinzhou 121001, China)

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 followup 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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