The Design And Simulation Of Feeding Manipulator For Crane U-arm Bending

The manual feeding is used mostly in the process of bending feeding presently. However, there are a series of problems, such as efficiency, speed, accuracy, safety and other aspects. The automatic feeding mechanism will replace the manual feeding to meet the production automation, improve production rhythms and production quality substantially. The objectives of the project are to planning conceptual and design drive system,operating system of the bending feeding manipulator , thereby optimizate the structure by the technology of Virtual Prototype.The main contents of this thesis are:Based on the bend processing features of the U-shaped arm, to analyze the position, motion and loading of the feeding manipulator,and confirm the conceptual. Then, design the drive system,operating system structure of the manipulator and model the manipulator with PRO/E. Check whether the manipulator meet the requirements of stiffness with ANSYS Workbench .Simplifying the manipulator model to the mechanism and establish the mathematic model with D-H method in the mechanism; then, analyze the kinematic parameters, velocity and acceleration; work out the Jacobian matrix of the manipulator, and analyze the dynamic performance of the manipulator using Lagrange equation further.To simulate the process of kinematics and dynamics with the application ADAMS to get the motion form of the manipulator and put out the animation; work out the drive moment of the manipulator motion by analyzing the loading status in the process. The simulation results are used to optimize the manipulator design.The feeding manipulator in the project solves the problem of the traditional manual feeding in the bend processing. The project also improves the automatic feeding programme, which not only relieves the worker's labour, but also increases the economic efficiency greatly.