Design Of 3-UPU Orbital Milking Robot And Analysis Of Key Components

Aiming at the defects of the existing intelligent milking equipment such as few kinds,large size,low flexibility and difficult to move,this paper designs a new type of orbital milking robot.Based on the tandem robotic arm,a parallel mechanism with 5 degrees of freedom is designed,which in turn improves the degrees of freedom of the robotic arm and can meet the requirements of positioning the milking cluster in different positions of the cow.Firstly,the TRIZ innovation theory is used to establish the object field analysis model and problem solving model of the milking machinery equipment,and structural innovation is carried out to design the main structure of the orbital milking robot.Compared with the structure of foreign one-piece milking robots,the orbital milking robot is fast moving,flexible,simple in structure and easy to maintain.Secondly,the transient 5-degree-of-freedom 3UPU parallel mechanism is analyzed using topological mechanism theory,and the forward and inverse kinematic theoretical equations are derived to derive the forward and inverse solutions of the mechanism.The dynamics simulation is performed by ADAMS,and the kinematic variation of the parallel mechanism is derived in agreement with the theoretical derivation.MATLAB is used to search and solve its workspace,and the effective workspace of the parallel robot arm is derived to verify the mechanism design rationality.Then,ANSYS was used to analyze the transient dynamics of the key transmission components of the milking robot.The transient dynamics module is used to simulate the key transmission components,and the statics analysis module and the modal analysis module are used to simulate the parallel manipulator.Based on the simulation results,the rationality of the material selection of the transmission components and the parallel manipulator and the correctness of the model design were verified,which provided a simulation basis for the later prototype production.Finally,ADAMS is used to analyze the dynamics of the milking robot,and MATLAB is used to draw the space trajectory of the milking robot.The speed and acceleration analysis of each action stage shows that the milking robot manipulator runs smoothly during the process of large-scale position and posture adjustment,and no major vibration occurs.The cylinder is selected based on the changing values of force and moment to complete the design requirements.SIMPACK is used to simulate the multi-body dynamics of the track,the rigid-flexible coupling model of the track is established,and the analysis results of the track vibration characteristics are obtained.The results show that the milking robot will not resonate under normal motion conditions.The vertical displacement of the flexible track is simulated,and the movement of the whole mechanism is judged to be stable.Figure[58]table[8]reference[87]...