Design and Analysis of a Parallel Four-Bar Mechanism Transport Robot
After analyzing the characteristics of the traditional AGV,this paper presents a kind of handling robot which uses the parallel four-bar mechanism to realize the bidirectional grabbing and placing.Firstly,the overall perspective of the robotic structure,which encompasses both mechanical and electrical elements.Further examination is undertaken on the blueprint and unique properties of principal components such as the threaded bolt,parallely aligned rods,helical gear,among others.Based on the mechanics principle,the static model of lifting parts of handling robot is established.With spring as the key part,the global search algorithm is used to optimize it,so as to reduce the maximum output torque required for lifting.The maxi-mum torque parameter is obtained in the analysis,and the worm gear reducer is designed according to it.Fi-nally,leveraging the results of the static model's force appraisal,we employ finite element analysis methods to imitate the connecting rod's behavior,thereby determining the dispersion of strain and deformation.The empirical findings reveal that the outcomes align with the intended design's performance prerequisites,thus offering a foundation for subsequent refinement.
logistics robotmechanical automationstatic analysisfour-bar mechanismfinite element anal-ysisAGV
NETL
NSTL
万方数据
维普
