The Performance Analysis of Vertical Automatic Tool Changer System
In this paper, we take the vertical tool changer device as an example to study the reliability of the manipulator in the heavy tool case. Firstly, introduce the structure of the vertical tool changer device, and do a simple instruction for the functions of the main components; Secondly, analyze the mechanical properties of the manipulator theoretically, find out the maximum force in the tool changer processing and build a virtual platform of the automatic tool changer to simulate the processing and test the performance of the tool changer; Finally, analyze the performance of the manipulator by finite element method in the heavy tool case. The analysis result shows that the maximum stress is less than the allowable stress: when the manipulator grasps heavy tool, so it is safe in the tool changer processing.
Chunliang Zhang and Paul P. Lin
H. Y. Dong et al., "The Performance Analysis of Vertical Automatic Tool Changer System", Applied Mechanics and Materials, Vols. 226-228, pp. 672-676, 2012