The Optimal Design and Simulation of End-effector of Working Robot

One designation of end effector was raised in order to make robot grasp spherical target effective and cut the conjunction off the matrix. The end effector consists of clamp module and cutting module. The clamp module clamps a spherical target with leadscrew motivated linkage system driven by motor. And cutting module cuts the target with extended blade under the control of steering gear. A kinematic model and static balance model was established and a double targets optimal function and constraint condition is obtained according to the geometry and load-bearing relations. The best composition of key parameters of the end effector was obtained with an optimal design to the size of linkages and power output of the link mechanism of the end effector with MATLAB. A kinematical simulation of clamp module and cutting module of the end effector were done with ADAMS. By means of analyzation, cutting characteristic curve of cutting module and kinematic relation curve of key structures in clamp module are acquired. With these methods, the reasonability in structural design of this scheme was turned out. Also, a robot end effector satisfied various performance requirements were achieved eventually.