Dynamic and Kinematical Analysis of Filling Manipulator

ZHAO Jia-yang, SHI Xiu-dong, XUE Bing-cai, ZHANG Dan-jing, LIANG Xiao-long

Packaging Engineering ›› 2013 ›› Issue (3) : 59-62124.

Packaging Engineering ›› 2013 ›› Issue (3) : 59-62124.

Dynamic and Kinematical Analysis of Filling Manipulator

  • ZHAO Jia-yang, SHI Xiu-dong, XUE Bing-cai, ZHANG Dan-jing, LIANG Xiao-long
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Abstract

Kinematical equation of filling manipulator was established based on planar geometric relationship. Each joint's displacement curve, speed curve, and acceleration curve was calculated by MATLAB. Dynamic simulation was carried out to get each joint's torque curve. The results showed that each joint movement is smooth and the motor rated torque is greater than the maximum needed torque; the motors meet the requirements. The purpose was to provide a theoretical basis for design of filling manipulator.

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ZHAO Jia-yang, SHI Xiu-dong, XUE Bing-cai, ZHANG Dan-jing, LIANG Xiao-long. Dynamic and Kinematical Analysis of Filling Manipulator[J]. Packaging Engineering. 2013(3): 59-62124

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