A Chewing Gum Packing Manipulator:Design And Analysis Of Dynamic Characteristics

Small food companies are introducing more automated controls in terms of economics,technology,and hygiene in the process of upgrading and upgrading their new product lines.The gum-loading robot arm is aimed at small food companies,mainly in the packaging of chewing gum or similar products.In the link,its performance affects the efficiency and quality of the whole boxing.In China's small food enterprises,the practical application of industrial robots is very rare.This paper designs the packaging robot arm with chewing gum as the carrier around the actual production demand of Shanghai Qingpu Food Factory.And analytical work.Firstly,according to the working requirements of the production line,the technical indexes of the mechanical arm are determined,which provides the basis for the structural design of the mechanical arm.Based on the reference of various robot schemes,the overall scheme of the mechanical arm is determined to be a four-degree-of-freedom articulated mechanical arm.The structural design of each part of the robot arm is calculated and designed,and the Solidworks 3D drawing of each component of the gum loading robot arm is completed,and the assembly is completed in software.The ABAQUS is used to check the stiffness and strength of the designed boom and arm to ensure that the strength and stiffness meet the requirements of the work.Based on this,HyperWorks is used to lightly design the boom and the arm.The kinematics mathematical model of the boxing manipulator is established by D-H method,and the transformation matrix between each coordinate system is derived.The forward and inverse solutions of the manipulator are obtained,and the working space,joint velocity and acceleration of the manipulator are analyzed.The trajectory planning of the manipulator is carried out by the fifth-order polynomial interpolation method,and the trajectory is used to analyze the angle and angular velocity of each joint.Using the Newton-Eulerian equation to analyze the dynamics of the manipulator,the dynamic equations of each joint are derived,and the driving torque of each joint is calculated to provide the basis for the motor selection.Dynamic simulation of the manipulator was performed using Adams software to verify the accuracy of the theoretical derivation and the rationality of the motor selection.Use 3D printer to print out the components,assemble the prototype and build the experimental platform,formulate the corresponding experimental scheme,determine the movement path and control flow of the robot arm,and write the control program.Experiments were carried out on the working space and practical application of the manipulator.The feasibility of the design of the manipulator was verified by experiments.