Dynamic Performance Analysis And Control Research Of Filling Manipulator

This topic derives from a project of a pharmaceutical machinery company in Nanjing.The main work is designing two kinds of linear continuous filling mechanism. One of them iscam filling mechanism, and the other one is3R filling Manipulator. This paper solves thecontinuous and efficient problem of the filling machine.Filling robotic arm is a key component of the linear filling machine, what is used to drivethe filling head to complete the online synchronization filling. The performance of the fillingmanipulator directly determines the reliability of the filling machine, and it is critical to thestability of the filling system. This paper analysed the dynamic characteristics of the camfilling mechanism, and optimized the cam profile by planning filling head trajectory that isused the cubic polynomial to approach hessian step function. Through establishing the3Rfilling Manipulator’s kinematic and dynamic equations, analysed its kinematic and dynamiccharacteristics, and used integrated optimization strategies to optimize the main parameters ofthe filling manipulator. Through analyzing the requirements of control system, selected theappropriate drive components, and then wrote the control program.The main content and conclusions of this paper are as follows:First, for the CAM filling mechanism, according to the trajectory of the filling head,solved the profile curves of planar cam and spatial cam in ADAMS, and then draw the3Dmodels of planar cam and spatial cam in PRO/E.Tranlating the model into ADAMS, and thena dynamic simulation was conducted. The results show that: The dynamic characteristic of thecam filling mechanism is not ideal, and it would reduce the life of the equipment. Therefore,the profile curves of the planar cam and spatial cam were improved by optimizing thetrajectory of the filling head, and then the dynamics simulation was conducted again. Theresults show that: The force of the CAM filling mechanism changes in continuous, and theCAM filling mechanism does not bear impact. According to the results of dynamic analysis,the force conditions of key components were obtained, and then carried on finite elementanalysis. The results show that: In the case of the maximum force of the movement process,the respective rod is able to meet the strength requirements.Second, for the3R filling manipulator, according to filling manipulator’s kinematicsrelations, the3R filling manipulator kinematics equations were established. On the base ofkinematics equations, the kinematics simulation was carried, and each joint’s drive curve wasobtained. According to the Lagrange equation, the dynamics equations of filling manipulatorwere established. On the base of dynamics equations, the dynamics simulation was carried,the driving torque of the respective joint was obtained. The main parameters were optimizedbased on the parametric dynamics model and mathematical optimization model, and theoptimal values of main parameters were obtained. The results show that: This optimizationmethod is convenient and feasible.Third, for the3R filling manipulator, through analyzing the control system requirements,each joint’s drive motor, speed reducer and its servo drive components was slected, and thenservo control system was built. The control program was writen on the base of each joint’s drive curve.