Research On Automatic Pharmacy Access Drug Manipulator

Since the 21 st century,people are further concerned about the health problems and the level of medical service.In order to guarantee that medicine and health of the people,our country has strongly support the development of medical industry.In order to solve the problems of unreasonable layout of pharmacies,low work efficiency and unhealthy management ability,the paper had completed the structure design,mechanical analysis,kinematics simulation and control system design of the automatic pharmacy access drug manipulator,and the specific contents were as follows:Firstly,in this paper,a new type of automatic pharmacy access drug manipulator based on two-finger type was designed.The function and driving scheme of the component parts were introduced in detail,and the selection of the motors of the operating part was completed.Secondly,the mechanical properties of the manipulator of the automatic pharmacy were studied.The static load of the access drug manipulator was analyzed.The static check and modal analysis of the access drug manipulator were completed by Workbench.The vibration modes in the first six modes were described and the causes and characteristics of the modes were analyzed.Thirdly,based on the standard D-H method,the kinematics model of the access drug manipulator was established,and the positive and inverse problems of the kinematics equation were studied.The position and operating range of the manipulator were simulated with the MATLAB robot toolbox.And the kinematics simulation analysis was carried out by ADAMS.Finally,the control system of automatic pharmacy access drug manipulator was designed.The hardware,hardware wiring and software flow of the control system were selected and designed,which made the relationship between the movement units cleare.Figure 41;Table 14;Reference 50.