Realization of Structure and Spring Parameter Optimization of a Manipulator for the Pressing Down Assembling of the Workpiece with Cylindrical Inner Wall

Abstract

According to the production process requirements of specific products， a manipulator for the grasping and pressing down assembling of the workpiece with cylindrical inner wall using an inner bracing method is designed. For this manipulator， the finger system is flexibly connected with the tubular hand palm. The flexible connection forms a residual vibration of the finger system during high-speed operation. Based on introducing the design idea and structure of the manipulator， the Adams motion simulation is adopted for the manipulator system to analyze the effects of spring system parameters on the residual vibration of the finger system. The key parameter affecting the vibration characteristics of the manipulator-the parameter of connecting spring is optimized and selected. The actual operation results of the manipulator show that the structure and spring parameters of the manipulator can well meet the operation requirements of the specific object.

Keywords

• Workpiece with cylindrical inner wall;Inner bracing method for grasping;Press down assembly;Manipulator structure;System vibration;Spring parameter