Justification of parameters of the executive drive of a robotic manipulator of a loading and transport unit

Abstract

To solve the problem of mechanization and automation of loading operations when harvesting vegetables Packed in bags, a loading and transport unit is proposed. A parallel-sequential structure manipulator has been developed for the loading and transport robot. The service area of the pincer grip is obtained from the condition of the specified chassis width. The geometrical parameters of the manipulator boom actuating drive from the condition of providing the required service area are justified. The choice of actuators is based on the condition of minimizing the influence of the maximum value of the force acting on the output link. The analytical dependence of the force on the rod of the Executive actuator on the angle of inclination of the arm of the manipulator is obtained. Graphical dependences of the force on the actuator rod on the angle of rotation of the boom in the form of a three-dimensional surface are constructed. Analytically favorable conditions for the transfer of motion and forces in mechanics are formulated. The quality of motion transmission in the lever mechanisms of the manipulator was evaluated according to the criteria for reducing the pressure angles in the hinges. The description of the loading and transport robot manipulator device is presented. An experimental sample of a parallel-serial manipulator was developed and manufactured. Taking into account the formulated dependencies and limitations allowed us to create a universal prototype of the manipulator, which can be installed on various self-propelled chassis. A system for controlling actuators according to various laws of program movements has been developed. Determining the coordinates of bags of vegetables is determined by the technical vision system.