| Perlite board has many advantages such as light, fireproof, saving energy etc. It becomes the mainstream and substitutes the traditional wall-material, but in the state-of-art, the factory is in small-scale, little-batch and low-automatization mode all around china, in order to satisfy the future market requirements, the produce mode will be large-scale, great-batch and high-automatization. The paper is about the main part of the automatic equipment-Truss Transition Manipulator.The former part selected the blue print of truss transition manipulator, designed the framework and the drive-system based on the characteristics and analysis of manipulator. Simultaneously, this part established the mathematical model of manipulator, derived the minimum energy and corresponding size of manipulator through non-linear programming. And it builded the D-H coordinate according to Denavit-Hartenberg theory, then got the equation of positive& retrorse kinematics which formed the base theory for manipulator.The latter part simulated and analyzed the simplified model of manipulator by ADAMS, ascertained the feasibility by comparing the programmed route. At the same time, it simulated the velocity&acceleration of the paw of manipulator which provides the possibility for its practical control system. |
