The Tool Space Trajectory and Stress Simulation of Manipulator Based on the Optimization Design

Abstract:

It’s not a difficult problem to accomplish mechanism designing of tool path. In order to meet the lightweight optimization design and the organization innovation for robot, cutting tool path optimization and simulation space, it still need further research. Firstly, using cutting tool of fruit picking robot, and doing kinematics analysis for displacement and velocity of the point on the edge of tool, a space curve motion equation was proposed; Secondly, through the analysis of sliding cutting theory, the sliding cutting angle was deduced, and the optimal way was determined; Thirdly, quantitative analysis was applied to analyze the affection of cutting quality caused by the cutting speed, and the optimal speed of blade was determined. Finally through the simulation and picking robot experiments, it was validated that the calculation model and the effectiveness of the curve track. The paper puts forward optimum tool’s space curve motion equation and sliding cutting angle, providing the theoretical support for lightweight optimization design of cutting mechanism of manipulator.

• Periodical: Key Engineering Materials (Volume 522)
• Pages: 623-627
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.522.623
• Online since: August 2012
• Authors: Cheng Yu Luo, Xiang Jun Zou, Min Ye, Jing Li
• Keywords: Cutter, Kinematics Track, Picking Robot, Simulation, Sliding Cutting Angle

References

[1] Celik. A: Canadian Biosystems Engineering, Vol. 48(2006), pp.223-227.

[2] S.M. Feng: Applied Mechanics and Materials, Vol. 121-126(2012), pp.768-772.

[3] G.J. Chen, B. Zhao, P. Sun: Journal of Agricultural Mechanization Research, Vol. 1(2009), pp.107-110.

[4] S.L. Qin, Y.G. Ou, Q.T. Liu: Transactions of the Chinese Society for Agricultural Machinery, Vol. 2(2006), pp.51-54.

[5] X.J. Zou, H.X. Zou, Q. Sun and M. Ye: China. Patent 201010565235. 7.

[6] R. C Huang: Contemporary Farm Machinery, Vol. 1(2008), pp.72-74.

[7] Z.L. Zhang, X. Zhao, X.H. Bai and X.D. Zhang: Journal of Agricultural Mechanization Research, Vol. 1(2009), pp.27-30.

[8] H. Yang, H.B. Zhou, X.C. Feng and J.F. Wang: Journal of Agricultural Mechanization Research, Vol. 1(2011), pp.23-26.

[9] B.R. Deng, J. Yang: Hunan Agricultural Machinery, Vol. 1(2004), pp.18-19.