Design And Analysis On The Hybrid Fourfreedom Degrees Wooden Door Shifting Manipulator

With the development and progress of science and technology,people's requirements for automation of wooden door processing line increase highly and highly,however,the movement of wooden doors between various processing stations has not been fully automated.In this paper,a hybrid manipulator applied to wooden door shifting in process is designed.Its main function is to solve the problem of movement between various stations in wooden door processing.According to the actual working conditions,a hybrid four-degree-of-freedom wooden door shifting manipulator is designed,which mainly includes gantry linear moving mechanism,crank arm mechanism,orientation adjusting device and end picking device.Among them,gantry linear moving mechanism realizes a large range of horizontal movement,crank arm mechanism realizes the vertical and horizontal movement of the manipulator,orientation adjustment device realizes the rotation of the end around the vertical axis,end position picking device realizes the picking of the workpiece.The positive and negative solutions of the crank arm mechanism are analyzed,and the workspace of the mechanism is solved by the coordinate search method.The working space in the vertical direction of the crank arm is used as the evaluation index to optimize the parameters of the rod.The velocity Jacobian matrix and force Jacobian matrix of the crank arm mechanism are solved,and the motion transmission performance and force bearing performance of the mechanism are analyzed.The error mathematical model of the mechanism is established,and the error is calculated by analyzing the error source.The parts of the manipulator are designed,and the 3D model of the manipulator is established by using SOLIDWORKS.The dynamic model of the manipulator is established in ADAMS,the dynamic simulation is carried out,and the parameter curves of the manipulator are obtained.The obstacle avoidance path of the manipulator is simulated,and the feasibility of obstacle avoidance is verified.Finally,the control of manipulator is studied,and the servo motor model is established.Based on PID control,the control system model is established in Simulink module of MATLAB,and the MATLAB & ADAMS co-simulation model is created.The results show that the manipulator designed in this paper is feasible,which provides a theoretical basis for the practical application of this kind of products.