Innovative Design and Motion Analysis of a Pick-and-Place Mechanism
| Autor: | Chin-Lung Chiang, 江金隆 |
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| Rok vydání: | 2009 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 97 The purpose of this research is to propose an innovative mechanical design and kinematic analysis for a pick-and-place mechanism (PPM), which is applied to automation equipments and press fabrication industries. Our methods utilize the geometric relationship to find out a single or multiple gear pairs of internal gear and planetary gear. By employing rotation motion as input and the approximate square path (ASP) as output, a set of PPM will be constructed from intercepting some portion of the ASP if we control the servomotor to rotate in the positive or negative directions and connect with a X-Y table. In order to quickly and conveniently obtain all the possible dimensions of gear pairs, a programming software is developed. The user only input the geometric dimension, and the distance between the angularity and the arc. The computer will automatically calculate several sets of available gear pairs and their related dimensions, and the kinematic curves of displacement, velocity, and acceleration, are also displayed. The curves will be helpful to analyze all kinds of gear pairs which generate the path of motion. Due to studying the transformation of the internal gear and planetary gear, we find the method of the ASP. By using this fundamental conception, we also find the methods of generating the approximate straight, ellipse, triangle, pentagon, hexagon heptagon, and octagon paths, which can be designed into a module. The results could be applied to the gaits of the imitative robots and the high-speed PPM. According to these conceptions of path modules, we expand to an amount of 48 modules from the ASP. The results could supply the educational equipments of Mechanical Design and Robot Design. Additionally, zero backlash device is designed between two-gear meshing to improve the high-speed and high-precision positioning of the PPM in automatic equipments, wafer fabrication and press fabrication industries. To verify its performance, experiments and numerical simulations are performed and compared. We achieve the performance to be with speed 2,000 mm/sec, accuracy ±0.0025 mm. The PPM could also be combined with other mechanisms to construct new systems with only one input servomotor and multiple-output mechanisms in high-speed and high-precision automatic equipments. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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