Analysis And Design Of Gear Blank Loading And Unloading Tandem Hybrid Manipulator

Gear billet loading and unloading manipulator is used in automobile rear axle main basin Angle gear reduction is hanging isothermal heat treatment line,on the production line,cutting point each supporting a manipulator,after used for forging workpiece by chain plate conveyor line to hang chain conveyor line,automatic feeding,and after heat treatment of workpiece by suspension chain conveyor line to chain plate conveyor line automatic blanking.This topic focuses on the analysis and design of the gear blank loading and unloading manipulator.According to the application conditions and design requirements,the design index of the manipulator is analyzed.A new type of hybrid manipulator is proposed and the configuration of the manipulator arm and hand is designed.On the basis of determining the configuration and the primary size of the manipulator,the kinematics and dynamics of the manipulator were analyzed,and the singularity of the manipulator was analyzed based on the Jacobian matrix.Based on the inverse kinematics of the manipulator,the workspace was drawn and the size parameters were optimized based on the influence of configuration parameters on the workspace.The force transfer model of the hand mechanism was established,and the appropriate geometric parameters were selected and the driving force required by the hand load was calculated.The whole structure of the manipulator is designed,including the structural design of the manipulator base,waist,arm and hand,as well as the calculation and selection of the drive and transmission parts of the manipulator.The trajectory planning of the manipulator is carried out during the loading process.The reasonable trajectory path points are planned and the trajectory planning of the joint space of the manipulator is carried out by using the curve interpolation method of parabolic transition.The arm control system was designed,and the independent control strategy was selected.The arm control system was established by using the control structure of the nested control loop,and the model and simulation were carried out by using Simulink to verify the feasibility of the arm control system model.