Study On Rotating Wrist Performance Of Handing Manipulator

The handling manipulator is the key equipment for grabbing and handling goods on the factory assembly line.It can adjust the direction by moving up and down and rotating.It is an indispensable production tool for modern enterprises.Generally,performance research is required for newly developed and designed robot products.The structural reliability of the manipulator and the ability to grab objects are the keys to the research of the manipulator.This paper studies the handling manipulator of Changzhou Ant Machinery Technology Limited Company,and analyzes the strength,fatigue,torque and other properties of the SRH-P-30 rotating wrist using the methods of system 3D modeling,finite element analysis and theoretical analysis,which makes its structure reliable and has good working performance.This paper studies the clamping force of the AFN-10 two-finger translational gripper and establishes a reliable finite element mode.Also,a test bench is built to test the clamping force.The main research contents and numerical analysis results are as follows:(1)The paper mainly uses the Solid Works to model the handling manipulator and perform non-interference assembly.ANSYS Workbench is used to do static and modal analysis on the main working part of the SRH-P-30 rotating wrist-the rack and pinion.When performed static analysis,simplifying the model of rack and pinion in the Solid Works,and then imported it into ANSYS Workbench to set constraints and loads to get the maximum deformation and stress cloud diagram of the rack and pinion.When performed modal analysis,the first six modes were mainly analyzed to acquire the natural frequency and mode shape.Through the mode shape diagram,it can get the mode shape that affects the operation of the rack and pinion(2)The paper studies the output torque of the gear shaft and analyzes the fatigue life of the gear shaft.According to the structure of the rotating wrist of the manipulator,ADAMS is used for simulation to get the output torque picture.Compared of the outcome from ADAMS and the theoretical result,it shows that they do not have great difference.Therefore,it indicates the correctness of establishing the rack and pinion model in ADAMS.By ncode designlife,the fatigue analysis of the gear shaft is carried out,which obtains the damage cloud picture and life cloud picture of the gear shaft.Analyzing these two pictures can get the dangerous parts and life length of the gear shaft,which provides a basis for subsequent optimization.(3)The paper analyzes the clamping force of the AFN-10 two-finger translational gripper of the end mechanism of the handling manipulator.According to the theoretical analysis of the structure of AFN-10 two-finger translational clamping jaws,the value of the clamping force under 0.2MPa air pressure is calculated.Establishing the ADAMS model of the gripper and carrying out dynamic simulation on it,thence the value of the gripping force calculated by the simulation is obtained.Testing the clamping force of AFN-10 two-finger translational clamping jaws on the site provided by Changzhou Ant Machinery Technology Limited Company,and measuring the clamping force with equipment such as force sensor,digital pressure gauge and one-way throttle valve.The result show that the clamping force results obtained in the three cases have little difference.It not only proves the reliability of the model built in the ADAMS model,but also provides a certain reference value for the subsequent design of the manipulator.