Design and testing of three-degree-of-freedom robot arm for cocoon brushing
A three-degree-of-freedom cocoon brushing robot arm is designed to solve the problem that the current cocoon brushing devices used by fiber inspection organisations are difficult to maintain and cannot be adjusted in terms of speed and trajectory due to their long service life.Firstly,the mechanical structure of the cocoon brushing robot arm is designed.The arm consists of a lifting joint,a swing joint,a rotating joint and an end-effector,with three rotating joints corresponding to three degrees of freedom;Secondly,the kinematic model of the arm is established according to the D-H method,the positive solution of the kinematic equations is obtained,and the Lagrangian functional equilibrium method is applied to carry out the dynamics analysis;Then,dynamics simulations are performed using ADAMS to obtain the required torque values for the joint motor;Finally,the system control scheme is designed and the experimental prototype of the cocoon brushing robot arm is built for functional testing.The test results show that the robot arm can adjust the movement speed and trajectory according to the field conditions,which provides a new idea for the structural improvement of the cocoon brushing device.
NETL
NSTL
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