Design And Research Of The Open Inner-carton Nine-links 2-DOF Mechanism

Due to Medicine packaging open-inner-carton mechanism motion trajectory complex,high accuracy requirement,1-DOF mechanism is difficult to realize its function requirements,So its design and performance research is particularly important,2-DOF mechanism compared with 1-DOF mechanism has higher flexibility,and can realize any complicated movement law in the plane,Therefore,attracted a large number of scholars to study it.However,the current situation of research at home and abroad,mainly focused on the design of the existing 5-Links 2-DOF mechanism,or type synthesis for multi-links 2-DOF mechanism,but the study related to complex 9-Links 2DOF mechanism and its path following is still in the blank stage.The paper is based on open-inner-carton 9-Links 2DOF mechanism,has carried on the thorough research to conceptual design,the movement characteristic and the path following and other related issues.The main work of the paper is as follows:The method of the method is used to design the method of the method,and the principle of the carton is carried out.The method of weighting is used to evaluate and decide the principle scheme.The paper puts forward the scheme design of the Nine-Links 2-DOF open carton mechanism by using the creative design method in combination with the theory of organization composition.The two originals of 9-Links 2DOF mechanism are respectively fixed,Which is transformed into two kinds of 8-Links 1-DOF mechanism,the corresponding mathematical model of motion analysis is established.The corresponding virtual prototype is constructed in Creo,and kinematics simulation analysis is obtained,the influence of the two originals on the displacement of the 9-Links 2-DOF mechanism is analyzed.By analyzing the motion region of the two-bar 8-Links 1-DOF mechanism,take the motion area of the 9-Links 2-DOF mechanism,and verified that achieve a predetermined track can be done.The mechanism and process trajectory parameterization,to institutional,process requirements based on the establishment of constraints,build constraints based on mechanisms and craft requirements,research on the algorithm of change law of two original moving object,Put forward the Path-Tracking-Approximation-Method,to get motion parameters of the original of the 9-Links 2-DOF mechanism.The Path-Tracking-Approximation-Method algorithm based on MATLAB is written,the control parameters obtained by the algorithm are used for simulation in Creo,the correctness of the path tracking approximation method is verified.