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Smoke box cleaning robot grasping flexible fixture design research

Author: WangJingXing
Tutor: ZhangYong
School: Kunming University of Science and Technology
Course: Mechanical and Electronic Engineering
Keywords: Industrial robots 3-RPS parallel mechanism Kinematics Dynamics Workspace
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 45
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Abstract


Industrial robots represent advanced productive forces , science and technology is the crystallization of a country's level of industrial automation is an important symbol . Smoke box cleaning robot is used in the tobacco industry, cigarette box cleaning residual material automation equipment. Its performance will directly affect the efficiency and quality of production of cigarettes . Therefore, the smoke box cleaning robot key technology research has a positive meaning . First , this paper introduces the design of the German company KUKA Robotics smoke box automatic cleaning system , developed by the Swedish company ABB Robotics automatic cleaning system and the smoke box Kunming Shipbuilding Equipment Group Co., Ltd. designs smoke box cleaning robot works. And describes the three degrees of freedom parallel mechanism Research . Secondly , this paper establishes a 3-RPS parallel mechanism space model . Details of the spiral theory principles and use with the theoretical analysis of the 3-RPS parallel mechanism of freedom ; pair of 3-RPS parallel kinematics were studied in detail , including the Kinematic , inverse position , velocity analysis, acceleration analysis ; pair of 3-RPS parallel mechanism dynamics were studied in detail , including the inertial force calculations, stress analysis , dynamic balance , and its numerical calculation ; pair of 3-RPS parallel mechanism workspace in detail studies, including parallel mechanism workspace restrictions and identify institutions polar coordinate space , combined with the MATLAB language for 3-RPS parallel mechanism workspace simulation ; singularity of the institution made ??a detailed presentation and gives a 3-RPS parallel mechanism singularity . Finally , this paper introduces three DOF parallel mechanism project implementation, and use of MATLAB language developed 3-RPS parallel mechanism aided design platform. Details of the smoke box cleaning robot gripper fixture flexible working principle and design platform to use.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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