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Development on the Four Degree Manipulation of the Material Handling

Author: TanJie
Tutor: ZhaoQiPing；ZhouYi
School: Wuhan University of Technology
Course: Mechanical Engineering
Keywords: Economy Robot PLC Structural design
CLC: TP241
Type: Master's thesis
Year: 2011
Downloads: 564
Quote: 1
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Abstract


The robot is human security operations, production automation as well as a powerful tool to improve labor productivity. The actual project, the paper in the Summary of robot research and development status on the basis of a comprehensive analysis of the material handling robot functions, combined with corporate material handling robot \This thesis is based on the analysis of the performance requirements and characteristics of the material handling robot, the mechanical structure of the robot, the drive system, transmission, as well as hardware and software control system analysis and design of the overall program. Determine the robot with the mechanical structure of the cylindrical coordinate system, pneumatic transmission driven program and the PLC system control. On this basis, the kinematics and dynamics of the material handling manipulator, given the relationship between the displacement, velocity, acceleration, and joint angle. Material handling robot kinematics equation using the Denavit-Hartenberg method to determine the position and attitude of the relationship between each member and the end of the movement, the establishment of the robot dynamics equation using Lagrange equation, established various joint The relationship between the movement and force. Due to the movement of the robot joints has two basic forms of the rotation and move its kinematics and dynamics derivation can provide a reference for other economic-type robot kinematics and dynamics analysis, also for the trajectory planning as well as the dynamic performance optimization The data support. On this basis, material handling machinery hand overall module division, turn the robot actuators carry out the calculation and design of each driving element of the trip, positioning Bore and buffer ways such as carry out the selection, in order to meet the mechanical hand movement the positioning accuracy and speed of movement of the process requirements, and the selected drive element checking in order to improve the reliability of the design. Explore a pneumatic drive system for material handling robot control loop, drive components, accessories Model Selection and Design. Set of I / O points, according to the requirements of material handling robot control and PLC control system. Analysis to determine the material handling robot program modules using the NS flow chart of the control system programming. Through the work of the above, draw the economical, modular, high-reliability material handling robot design, the design of other types of economic-type robot also has some reference value. Four degrees of freedom of material handling robot developed in this paper has been in Hubei Zhongyou Technology Industrial Co., Ltd. Opto-Mechatronics experimental platform was applied.

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