The Structure Analysis On Bagged Cement Loading Robot

With the development of cement production automation and cement packing machine automation, it is an urgent need to form a set of bagged cement with automatic loading equipment, in order to improve efficiency, reduce cost and reduce pollution. At present, bagged cement loading robot technology at home and abroad is still immature. Bagged cement rapidly loading has become the bottleneck of its production transportation, restricting the development of bagged cement industry.According to the process of loading process, there are some questions, such as the quality of bagged cement, the speed of loading, and the seriousness of pollution. Combining the robotic mechanisms, the designer determines the overall structure of the robot, and design loading manipulator based on parallel mechanism. Manipulator, lifting mechanism and advance the whole machine structure constitute the bagged cement loading robot. The structure and the function of each part are detailed analyzed, and specific structure size parameters are identified.Parallel manipulator has carried on the kinematics and dynamics analysis. The author adopts vector and coordinate transformation method to establish the kinematics model, uses the formula Grubler Kutzbach to analyze the degrees of freedom, and gets the corresponding analytic expressions of the position, velocity and acceleration. Fsolve function of Matlab is used to get the positive numerical solution of the manipulator Newton-Euler method is used to establish joint displacement, velocity and acceleration of the manipulator and the drive torque or power relationship.The working space, the singularity and the dexterity of the manipulator mechanism are analyzed. The author adopts the polar coordinate boundary search method to determine the loading working space of the manipulator, and adopts the Matlab program to draw the spatial point cloud and the boundary contour scatter plot. All of those conform the requirements of design. Gosselin and Angeles algorithm is used to analyze the loading manipulator singularity analysis, the author establishes Jacobian matrix to get singularity discriminant form, and analyzes singular critical condition. Based on the Jacobi matrix condition number index analysis of the dexterity of the manipulator, the author gets the distribution chart of dexterity which provides theoretical reference for the design of the structure.Based on virtual prototype technology, the motion simulation analysis and application are carried out on the loading manipulator. Through the three dimensional modeling software Solid Works to establish the virtual model of the manipulator, and import it into the ADAMS software. The author gets the related parameters of the simulation curve which validates the rationality of structure design and practical. Finally, the author selects the type of key parts by the motion simulation theory of parametric curves which show the specific data.