Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block
According to the production process requirements of the pyrophyllite block，which is raw material for synthetic diamond，a manipulator with internal bracing grasping and pressing assembly for fragile cylindrical inner wall parts is designed. The manipulator completes the grasping and assembling togeth...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2021-07-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.07.022 |
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| _version_ | 1841547297432797184 |
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| author | Liangwen Wang Jihao Zhang Yalin Mu Qinghua Zhang Ruolan Wang Shizhao Zhang |
| author_facet | Liangwen Wang Jihao Zhang Yalin Mu Qinghua Zhang Ruolan Wang Shizhao Zhang |
| author_sort | Liangwen Wang |
| collection | DOAJ |
| description | According to the production process requirements of the pyrophyllite block，which is raw material for synthetic diamond，a manipulator with internal bracing grasping and pressing assembly for fragile cylindrical inner wall parts is designed. The manipulator completes the grasping and assembling together，and the structure of the pressing action is designed as a barrel-shaped palm，and the three circular arc fingers with internal bracing grasping，which complete the grasping and transferring action，are nested in the inner cylindrical surface of the barrel-shaped palm. Based on the introduction of the overall structure of the manipulator，the selections of the pushing cylinder and the pneumatic control system are discussed. The influence of different motion laws on the stability of the operation process is investigated when controlling the transfer operation of the manipulator. The theoretical analysis of the motion laws and the Adams motion simulation of the manipulator working process indicate that better motion performance can be obtained by using modified trapezoidal motion laws to control the transferring motion of the manipulator. The results of the study laid a good foundation for the operation of the improved manipulator system. |
| format | Article |
| id | doaj-art-d071c1d7fae044c6828e9f5c0a414b27 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-07-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-d071c1d7fae044c6828e9f5c0a414b272025-01-10T14:48:39ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-07-014514815518848357Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite BlockLiangwen WangJihao ZhangYalin MuQinghua ZhangRuolan WangShizhao ZhangAccording to the production process requirements of the pyrophyllite block，which is raw material for synthetic diamond，a manipulator with internal bracing grasping and pressing assembly for fragile cylindrical inner wall parts is designed. The manipulator completes the grasping and assembling together，and the structure of the pressing action is designed as a barrel-shaped palm，and the three circular arc fingers with internal bracing grasping，which complete the grasping and transferring action，are nested in the inner cylindrical surface of the barrel-shaped palm. Based on the introduction of the overall structure of the manipulator，the selections of the pushing cylinder and the pneumatic control system are discussed. The influence of different motion laws on the stability of the operation process is investigated when controlling the transfer operation of the manipulator. The theoretical analysis of the motion laws and the Adams motion simulation of the manipulator working process indicate that better motion performance can be obtained by using modified trapezoidal motion laws to control the transferring motion of the manipulator. The results of the study laid a good foundation for the operation of the improved manipulator system.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.07.022Fragile workpieceCylindrical surfaceInner wall workpieceInner bracing method for graspingPress down assemblyManipulator structureMotion law |
| spellingShingle | Liangwen Wang Jihao Zhang Yalin Mu Qinghua Zhang Ruolan Wang Shizhao Zhang Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block Jixie chuandong Fragile workpiece Cylindrical surface Inner wall workpiece Inner bracing method for grasping Press down assembly Manipulator structure Motion law |
| title | Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block |
| title_full | Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block |
| title_fullStr | Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block |
| title_full_unstemmed | Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block |
| title_short | Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block |
| title_sort | structure realization and motion control of a manipulator for the production and assembling of the fragile pyrophyllite block |
| topic | Fragile workpiece Cylindrical surface Inner wall workpiece Inner bracing method for grasping Press down assembly Manipulator structure Motion law |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.07.022 |
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