Mechanism Analysis And Optimization For Clamping Manipulators Of Bearing Rings Dual-Axial Cnc Tool

The serial industrial robots are widely used in assisted manufacturing process, with the characteristics that compact structure, large workspace, good flexibility and so on. Bearing rings are processed by dual-axial CNC tool with the principle of the centralized process. However, the problem is that the dual-axial synchronization docking technology is difficult to achieve and the equipments cost is high. In this background, the paper intends to research a appropriative clamping manipulators, in order to replace the original dual-axial synchronization docking process.The configuration determines many operating performances of robot. Kinematics analysis is the premise of trajectory planning and also is the foundation of real-time control. Workspace analysis will provide constraints for geometric parameters optimization of robot. This paper researches mechanism analysis and optimization of clamping manipulators, the study is as follows:Firstly, the process of bearing rings processed by biaxial CNC machine is analyzed. The functional design requirements and the performance design requirements of the clamping manipulators are proposed. The degree of freedom is determined by design requirements. The configuration of the arm and wrist are analyzed and given.Secondly, the direct kinematics model of clamping manipulators is established by D-H method. The inverse kinematics problem is solved by the inverse transform method and the inverse transform-geometric method based on the direct kinematics model. The speed model and acceleration model of clamping manipulators are established. The jacobian matrix of clamping manipulators is solved by the vector product method and the differential transform method.Then, the shape of the clamping manipulators workspace primary section is detailed analyzed based on the graphic method. Four basic shapes of primary section and the existing conditions are presented. The area computational formulas of each basic shape are proposed.Finally, the principle which determine the minimum contain cuboid of task path is presented, by analyzing the ability of surrounding cuboid by clamping manipulator workspace. Then, the minimum contain cuboid of the clamping manipulator task path is obtained. On this basis, the geometric parameters of clamping manipulators were optimized based on its application requirements. The research of this paper is value for the design of articulated industrial robots, and also sets the foundation for the structural design of clamping manipulators, trajectory planning and control.