In order to meet the needs of the smart library for storing and retrieving books,a book grabbing manipulator dedicated to the smart library was designed.In this study,an end effector was designed based on Soildworks software according to the requirements of the actual book grasping condition,and the end effector was analyzed with finite element analysis.The Cartesian coordinate system was established for the parallel mechanism,and the kinematic analysis was carried out,and the workspace was simulated and verified based on Monte Carlo method.Finally,the designed end effector was combined with a parallel mechanism to obtain a manipulator that can grasp books quickly and stably.According to the simulation results,it can be seen that the designed book grabbing manipulator can meet the requirements of actual working conditions.
Parallel mechanismEnd effectorFinite element analysisKinematic analysis
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