Structural Analysis And Application Design Of Four-Axis Manipulator

A manipulator is a mechanical actuator that can replace the manual reciprocating motion in a certain space.This topic studies the structure of the manipulator and analyzes the maneuverability of the manipulator.Combined with the actual field application requirements,a set of control system that can meet the requirements of flexible production is designed,and finally the relevant theoretical verification of the control algorithm of the manipulator's running stability is carried out.Firstly,the structure of the four-axis manipulator is introduced.Based on the geometric relationship,the motion analysis of the mechanical structure of the manipulator is carried out,and the rotation axis of the pedestal is selected as a reference to establish a space coordinate system.Then,the spatial coordinate position of each drive shaft of the manipulator is obtained by means of homogeneous transformation,that is,the correctness of the theory is measured by the forward and inverse kinematics of the kinematics.The kinematics forward and inverse solutions of velocity and acceleration are obtained by first-order and second-order derivation.According to the singularity problem of the manipulator,the Jacobian matrix is used for analysis,and the mechanical parameters are combined to calculate the specific parameters and relational formula of the theoretical working space of the manipulator.Secondly,the Solidworks drawing software is used for virtual assembly to obtain the structural model of the manipulator and the simplified model is analyzed by ADAMS software.The actuator at the end of the manipulator is moved,and the relationship between the speed,acceleration and moment of the lumbar drive joint is simulated.Obtain the position and state of the manipulator when the torque reaches the peak,as well as the motion curve,and theoretically verify the dynamic equation to demonstrate the rationality of the structure.Again,the robotic space motion control program is programmed by performing a motion trajectory planning of the structure of the end of the robot,wherein the coordinate points of the robotic space motion trajectory are parameterized.The mathematical model of the space model and size parameters of the grasping object of the robot end actuator and the coordinate point parameters of the robot space motion trajectory are established,and the parameter conversion program is written and the reserved data communication interface is used to grasp the space model and size of the object.The parameters will be transmitted to the PLC controller via the data communication interface for application requirements for flexible custom production.Finally,a brief introduction is made to the relationship between the stability and acceleration of the manipulator.The three speed curves are analyzed and the T-speed curve is finally selected to theoretically analyze the subject manipulator.The feasibility of the theory is determined by means of calculation and simulation verification,and the actual effect of the theory is verified by the programming and logic adjustment of the upper computer programming software.