Structure Design and Kinematic Analysis of Stacking Mechanical Arm of Aluminium Ingot

Jia Cheng Cai; Hai Tao Wu; Tian Chang Yao; Da Wei Xu

doi:10.4028/www.scientific.net/AMR.834-836.1414

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 834-836Structure Design and Kinematic Analysis of...

Structure Design and Kinematic Analysis of Stacking Mechanical Arm of Aluminium Ingot

Abstract:

In view of the existing problem of the traditional aluminium ingot stacking practices, it was important significance to research and develop a stack-manipulator that includes various functions to do portage and stack. According to the demand of stacking, the motion system of the Stack-manipulator based on four degrees was finished. The kinematics equation of the manipulator was set up using the D-H theory, On this base, Some of the kinematics problems of this stack-manipulator were discussed and these reliable basis were provided for the research of the manipulators dynamics and control and trajectory planning.

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Periodical:

Advanced Materials Research (Volumes 834-836)

Pages:

1414-1417

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.834-836.1414

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Online since:

October 2013

Authors:

Jia Cheng Cai, Hai Tao Wu, Tian Chang Yao, Da Wei Xu

Keywords:

Four Degrees, Kinematics Analysis, Manipulator, Stack

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References

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