Design And Analysis Of Gantry Suction Manipulator

In the car welding production line,gantry crampons play an increasingly important role,its application is also more and more widely.Gantry suction cup manipulator is a movable clamp,is to improve the automotive welding production line tooling efficiency is an important factor.The survey found that the existing sucker manipulator does not meet the needs of handling parts of automobile welding production line.Therefore,this paper designs a multifreedom gantry crane manipulator model to handle the irregular parts and completes the related analysis.This article gantry sucker manipulator research summarized in the following aspects:Firstly,the paper analyzes the development level,merits and shortcomings of existing handling robots at home and abroad,and designs a new type of gantry sucker manipulator with reference to the mature sucker manipulator at home and abroad as well as the task requirements of the project.On the gantry linear guide slider force case of its dynamic load calculation for the linear guide to provide the basis for the selection.In the case of sucker manipulator by the maximum load on the drive type selection and suction cup diameter of the initial calculation and material selection.Secondly,static analysis of the key parts of the gantry robot manipulator to determine whether to meet the load requirements.The chuck manipulator modal analysis to determine the causes of resonance.Harmonic response analysis to determine several modal vibration damage the greatest impact.Thirdly,the positive kinematics modeling and velocity Jacobi matrix of sucker manipulator are solved by spin theory.The inverse kinematics of sucker manipulator is solved by improved genetic algorithm to provide data support for kinematics simulation and analysis.The working space of the sucker manipulator uses the Monte Carlo method to analyze the maximum space of the sucker manipulator.The analysis result provides a basis for determining whether the configuration of the sucker manipulator meets the size of the clamped part;analyzing four sucker manipulator collaborative work spaces to determine whether there is a manipulator Interference situation.In the simulation software ADAMS,the time function of each joint is given to analyze the motion trajectory and velocity curve of the end point of the suction cup.The trajectory planning of the joint space is used to analyze the joint movement of the sucker manipulator,which creates a good foundation for further research on motion control in the future.