Dimensional synthesis of a 3-DOF handing manipulator in press line

doi:10.16731/j.cnki.1671-3133.2017.11.008

Abstract

Abstract: A novel 3-DOF hybrid manipulator was presented to pick and place the tubes on punch line.The workspace and optimization of the mechanism structure were carried out,several evaluation indexes of kinematics and dynamics performance are established for the object functions,workspace and static stiffness index for the constrains,parameters of level and tension spring for the design variables,and then a standard multi-objective optimization model can be built.The dimension synthesis is carried out by solving the multi-objective optimization with Non-dominated Sorting Genetic Algorithm-II(NSGA-II),the result of reducing driving torque of the motor 2 was selected in Pareto optimal solutions,meanwhile the selected solution can not significantly impaired other evaluation indexes.The selected solution was verified with kinematics,dynamics equation,the results show that optimized manipulator kinematics and dynamics performance has been greatly improved,and the theoretical foundation was brought forward to guide structural design and motion control.

Key words: stamping manipulator, multi-objective optimization, NSGA-II, dimension synthesis

CLC Number:

TP241

Liu Jing, Zhang Ming. Dimensional synthesis of a 3-DOF handing manipulator in press line[J]. Modern Manufacturing Engineering, 2017, 446(11): 43-49.

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