| High-speed press line refers to the automated production line with more than 12 times stamping in unit time, its generation and development are closely related with the fierce competition of the automobile industry, and its continuous and efficient automated feeding system is the foundation of realizing the high-speed automation. Through the path study of feeding system and the motion simulation of the press line, the collision, interference and the vibration problem of feeding system can be found, which can help realize smooth and non-stop production, increase the production efficiency and have profound meaning to improve the production pace.In this paper, the structure, kinematics and dynamics of a new type of high-speed feeding manipulator are studied, the manipulator path is planned. Then, the simulation is carried out by using ADAMS software, and the analysis results can provide convenience and help for design and production of this press line. The main works are as followed:The structure characteristics of this feeding manipulator are analyzed, and the positive kinematics equation is established by using homogeneous coordinate transform. By using fixed variables and numerical solution, an inverse kinematics solution is presented with the help of Matlab software.Based on the kinematics equation, quintic polynomial is used for manipulator’s path planning in x and y direction respectively in Descartes space, the path is formed by combining the two curves. User interface is customized in Matlab software. By changing the feed height, a new path will be generated efficiently. The motion curves of the active joints are took out by using Matlab software solving inverse solution equations.Simplified three-dimension model of feeding manipulator and press is drawn and assembled in SolidWorks software. Then the model is imported in ADAMS software for simulation and analysis, after constraints and drive functions are added to the press line model. Due to the simulation results, the joint curves are smooth and the press line movement is stable. At the same time, during the modeling and simulation process, macro codes are recorded and stored in the secondary development folder. Then, the secondary development interface is customized for parametric modeling, collision and single point place inspection and curve analysis.Finally, the dynamic equations of the feeding manipulator are established by using the Lagrange method. Through the dynamic simulation in ADAMS software, the simulation curves of force or torque in each active joint and the kinematics curves of tooling are obtained and compared with the corresponding validation parameters, which provides the verification and guarantee for the system design. |
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