The Design Of Manipulator System On Automatic Prodution Line For Textile Vamp Internal And External Cutting

The main content of this paper is the design of loading and unloading system which is based on the production line of the inner and outer cutting of the textile vamp.The article mainly includes two aspects: First,the design of end extractor system,it is necessary to perform a device to absorb and release of textile vamp;Second,do kinematics' analysis and simulation of the selected ABB robot.Due to the airtight nature of the vamp printing,We use the vacuum pneumatic system as the end extractor of the manipulator to adsorb and release the textile vamp.Firstly,the mechanical design of the structure of the end suction is carried out.This paper introduces the selection of material and the installation method.Then,according to the principle of vacuum system,the aerodynamic parameters of the system are determined by calculation.Enter component parameters into the SMC software and the software will automatically calculate and check.Finally,we can get the model of the component and the performance curve of the vacuum system.Then we selected a joint coordinate robot produced by ABB company.Its product model is IRB1600 which provides a solid structure model for the manipulator kinematics analysis.The pose representation of the manipulator in the space coordinate system is presented.So the linkage parameters of the manipulator(D-H model)are established.The positive kinematics equation and the inverse kinematics equation of the manipulator are obtained by using the posture variation formula(matrix).The 3D model of manipulator is established by using Robotics toolbox in Matlab.The simulation and analysis of positive kinematics and inverse kinematics were carried out.The spatial motion trajectory of the manipulator is simulated and analyzed by MATLAB.On the basis of the positive kinematic matrix equation,the working space of the manipulator iscalculated.That is,the set of the reachable area in the space,including the three-dimensional simulation of the working space of the manipulator,and the plane projection.This paper analyzes the trajectory planning of the manipulator in the right angle space,and puts forward the solution of the linear path and the circular path of the manipulator model in this design.Including the space linear motion interpolation method and the space circular motion interpolation method.The paper also proves the validity of the method by simulating the right-angle space planning algorithm by using the scientific software MATLAB and the robotics toolbox.Finally,the kinematics simulation of ABB manipulator is carried out based on ADAMS software.