Jixie chuandong (Oct 2023)
Kinematics Analysis and Simulation of Cement Filling Automatic Bag Inserting Manipulators
Abstract
In order to replace workers in the bag inserting operation during cement pouring, and solve the problems of bag damage or omission, low production efficiency, poor working environment and so on, an automatic bag inserting manipulator for cement pouring is designed and developed. Based on the introduction of the working principle and structural function of the bag inserting manipulator, this study uses the D-H method to establish the kinematics equation of its mechanical structure, deduces the motion curve of the manipulator, further analyzes the combination relationship between the manipulator and the trajectory of the feed opening of the cement packaging machine, and then simulates and analyzes the kinematics model of the manipulator through the Robotics Toolbox in Matlab software to verify the correctness of the theoretical analysis results. Finally, the design of experiment (DOE) verification experiment shows that the cement filling automatic bag inserting manipulator can accurately grasp the bag body and insert bags, which verifies the rationality of its body structure and conflicts with the limitations and low accuracy of the existing bag inserting equipment.
