Kinematics simulation analysis of multi-output manipulator coupling worktable system based on Adams
In order to design a worktable that can be coupled with the manipulator of woodworking CNC(computerized numerical control)machining center to realize the clamping and CNC machining of woodworking parts on the woodworking CNC machining center worktable,the structural design of the woodworking CNC machining center worktable was carried out by SOLIDWORKS 3D design software combined with the structural parameters of the existing manipulator of the woodworking CNC machining center and the actual processing requirements of the open processing of large column and board wood components.According to the size,weight and movement requirements of actual woodworking parts,the drive motor was selected.The kinematic models of the woodworking CNC machining center worktable and the operator arm were simplified into two kinematic branch chains according to the improved D-H(Denavit-Hertenberg)method,and the kinematics analysis was carried out and the kinematic inverse solution was derived based on analytical method.The joint virtual simulation model was established by SOLIDWORKS and Adams,and the worktable and operating arm of woodworking CNC machining center were simulated and analyzed.Finally,a worktable which could move along X and Y directions and a cantilever beam type work-piece clamping platform which could rotate around axis A were designed,the sliding component of the curved guide rail was developed to offset the deflection of the cantilever beam.The SOLID WORKS simulation results show that the woodworking CNC machining center worktable can realize the motion and linkage with the robot arm to process woodworking parts according to the predetermined design plan.Through Adams virtual simulation,the motion curves of the displacement,velocity and acceleration of each component are obtained.The results shows that the velocity of the worktable is between 0 and 0.6 m/s,the angular velocity is between 0 and 1.797 7 rad/s,and the maximum acceleration and angular acceleration are 0.83 m/s2 and 1.570 8 rad/s2,respectively,without sudden change.The simulation results show that the motor selection is reasonable and can meet the speed and torque requirements,and the worktable of the woodworking CNC machining center can be coupled with the operator arm to realize the machining of woodworking parts.
design of worktablekinematics analysisAdams simulationmotor selection
NETL
NSTL
万方数据
