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Research on Automatic Carrying Device for Silica Gel Charge Stock

Author: WangYuHui
Tutor: LvChuanYi
School: Shandong University of Technology
Course: Mechanical Design and Theory
Keywords: Automatical Carrying Mechanical Hand RPC Parallel Mechanism Kinematical Simulation Optimization
CLC: TH241
Type: Master's thesis
Year: 2011
Downloads: 50
Quote: 0
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Abstract


In recent years,with the rapidly developed automatic technology,China has made great progress in automatic technology.However,there are great gaps with the other developed country。At the same time, because of the unbalanced development in our country, the automatic techology in Small County will be up for enhancement.Because the mechanical hand has great flexibility and is good for mass production,it has great widely applied which accelerates the deveolpmnet of mechanical hand.However,there are many problems in using the mechanical hand to transport objects.For example,the mechanical hand can’t carry the objects which have great size and weight,and Even though the mechanical hand can carry the objects,it can’t acheive the great spacial movement.According to production conditions of Weihai Pearl Silica Gel Co. Ltd,the automatic transit nachine for silica gel charge sock has be studied and designed to improve the productiveness.In the first place, the scheme of carrying mechanism for silica gel Charge Stock which have the carrying by friction,carrying by mechanical hand and parallel mechanism has be studied.Parallel mechanism has stable structure,good dynamic properties and high precision, and great adaptability,and high modularity to acheive the manufacture of the complex spacial structure and has flexible motion,especially parallel mechanism with 3 degree freedom has not only simple structure and little driving elments and low cost,but also has high speed and good dynamic property and good stiffness.So the parallel mechanism with 3 degree freedom is suitable for carrying silica gel tray.By the synthesis of the parallel mechanism with 3 translational degree freedom,the RPC parallel mechanism with 3 degree freedom is selected.Working spacial and kinemaic normal-solution and kinematic inverse-solution and motion route were studied.Using ADAMS (?)o simulation the mechanical hand and RPC parallel mechanism with 3 translationals degree freedom, combination property of the mechanical and RPC parallel mechanism can be obtained.By comparison,, rational carrying scheme of carrying mechanism can be ascertained.Through modeling by UG, kinematical analysis by MATLAB and optimization by ADAMS, the design process of mechanical objects has been simplified and the efficiency has been raised.It will lay a foundation for manufacature and controlling of the mechanism for silica gel charge sock.

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CLC: > Industrial Technology > Machinery and Instrument Industry > Lifting machinery and transport machinery > Loading and unloading machinery > Hand push trucks
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