Study On The Grab Manipulator For The Feeding Of Mixed Yarn

In recent years,with the improvement of people's quality of life,the market demand of intelligent spinning products based on mixed color yarn is increasing.However,there are many difficulties in the process of feeding and grasping mixed color yarn,which makes it difficult to realize real automation.Therefore,aiming at the problems of the existing automatic feeding and grabbing device for mixed color yarn,such as large volume,inaccurate positioning and low efficiency,an bionic manipulator suitable for efficient feeding and grabbing of mixed color yarn is designed.First of all,according to the feeding characteristics of mixed color yarn,on the basis of studying the bionics principle,the structure of the feeding grasping manipulator is designed.By studying the actual grasping demand and the structure principle of human fingers,the overall structure scheme of the manipulator is constructed,and the component layout design of the feeding and grasping manipulator and the selection of the transmission and driving mode are completed.Secondly,according to the structure scheme of the manipulator,the kinematics analysis of the feeding and grasping manipulator for mixed color yarn is carried out,and the pose angle parameter matrix is obtained,which provides the basis for accurate grasping control.In the process of kinematics analysis,using the improved D-H coordinate description method,the parameter relation function is derived,so as to complete the forward and inverse kinematics solution analysis,obtain the pose relation matrix,determine the size of the manipulator and the layout parameters of the rope pulley,and provide theoretical parameter guarantee for the accurate feeding and grasping of the manipulator;finally,according to the actual grasping demand of the manipulator,the auxiliary device for feeding and grasping of mixed color yarn is designed.Based on the requirements of manipulator feeding and yarn suspension positioning,the manipulator assisted mobile platform and yarn jet suspension assisted air hole channel are designed to provide hardware support for manipulator movement and accurate positioning and grasping of yarn suspension.In order to verify the feasibility of grasping manipulator for mixed color yarn feeding,the Manipulator Simulation and prototype grasping experiment design were carried out,and several groups of experimental data were compared and analyzed.The experimental results show that the designed manipulator can realize the automatic feeding and grasping of blended yarn,and the success rate can reach 92%.