Research On The Mechanism Model And Grasping Planning Of General Tool Manipulator

In the context of intelligent manufacturing,robotics technology is applied to all walks of life,and the operation ends corresponding to different operation target are very different.At present,the replacement of turning tools for CNC lathes is completed through the replacement of the tool holders,and it is not possible to directly operate the turning tools.In order to fill the gap in the manipulator industry in this filed,this article designs an auxiliary robot that serves machine tools.The general tool manipulation manipulator for CNC lathe tool manipulation,for the design of the structure,the establishment of the kinematics model,the analysis of dynamics and statics,and the research of grasping planning,this thesis mainly studies the following problems:First of all,a manipulator that can realize the operation of the turning tool is designed for the replacement of the turning tool of the CNC lathe.The manipulator consists of two parts: Turning tool grabbing part and screw operation part.Determine the size of the manipulator according to the shape and size of the blade to be operated.Design a set of mechanisms that can realize the disassembly and installation of screws,and a multi-finger manipulator mechanism according to the way the turning tool is grasped by human hands.The unique design can realize the grasping of general tools.The combination of the turning tool grasping part and the screw operation part can realize the replacement of the turning tool of the CNC lathe.Secondly,analyze the movement and force of the gripping part of the manipulator blade.The kinematics model of a single finger of the manipulator is established by appropriately simplifying the dynamic contact points at the end of the finger.The working space of the finger is determined by the industry-wide Monte Carlo method;the fingers are analyzed by differential kinematics and statics to obtain the finger joints Correspondence between speed and end speed,and the relationship between finger joint drive torque and finger end drive force;and the relationship between finger force and movement is also obtained by analyzing finger dynamics.Thirdly,make plans for the finger grasp and grasp force.Analyze the contact type of the end of the finger to obtain the contact matrix of the end of the finger.From the contact matrix between the contact points of the fingers and the turning tool,the gripping matrix of the manipulator can be obtained;in order to realize the gripping of the turning tool,the gripping needs to be closed.According to the description of force-closed grasping,perform force-closed grasping analysis for each stage of finger manipulation of the turning tool.Based on force-closed grasping,the finger grasping force planning is carried out,and the boundary conditions of grasping are determined according to the force-closed grasping.The initial gripping force that meets the boundary conditions is obtained,and the gripping force is optimized by the optimization method based on gradient flow,and the optimal gripping force of each finger at the planned gripping point is obtained.Finally,ADAMS is used to simulate and analyze finger grabbing.Establish an ADAMS simulation model according to the planned grasping boundary conditions,and conduct simulation analysis for the four-finger grasping stage.Set the torque or position parameters of each finger joint to realize the grasping boundary conditions,and analyze the whether the force and motion state of each part of the manipulator under the boundary conditions meet the requirements,so as to verify the planned grasping model and verify the rationality of the designed mechanism motion and force.