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Engineering,2012,4,850-856()KinematicalAnalysisandSimulationofHigh-SpeedPlateCarryingManipulatorBasedonMatlabKeWang,JipingZhouSchoolofMechanicalEngineering,UniversityofYangzhou,Yangzhou,ChinaEmail:wk15937945561@163.com,jpzhou@yzu.edu.cnReceivedOctober13,2012;revisedNovember14,2012;acceptedNovember23,2012ABSTRACTInordertoconstructthemoreeffectivekinematicsmethodforindustry,bytakingahigh-speedplatehandingrobotasanexample,thestructureandparametersoftherobotlinkagesareanalyzed,andthestandardDenavit-Hartenbergme-thodisappliedtoestablishthecoordinatesandthekinematicequationofthelinkages.DependingonthegraphicsandmatrixcalculationabilityofMatlabespeciallyincludingtheRoboticsToolbox,thehandlingrobothasbeenmodeledanditskinematics,inversekinematicsandthetrajectoryplanninghavebeensimulated.Therefore,thecorrectnessofkinematicequationhasbeenverified,meanwhile,thefunctionsofdisplacement,velocity,accelerationandtrajectoryofallthejointsarealsoobtained.Inafurtherstep,thishasverifiedthevalidityofallthestructureparametersandpro-videdareliablebasisforthetheoreticalresearchonthedesign,dynamicsanalysisandtrajectoryplanningofthema-nipulatorcontrolsystem.Keywords:High-SpeedPlateCarryingManipulator;D-HMethod;RoboticsToolbox;TrajectoryPlanning1.IntroductionAsatypicalrepresentativeandamaintechnicalmeansofinformationtechnologyandadvancedmanufacturingtech-nology,thecompletesetofautomaticstampingprocess-inglinehasbecomeahightechnologytowhichthedeve-lopedcountrieshavepaidmuchattention.Anditsdevel-opmentlevelhasbecomeoneofthemostimportantstan-dardstomeasureanation’stechnicaldevelopment.Ithasbeenextensivelyappliedintheindustryofmechaniccalmanufacturing,nuclear,aerospace,energyandtranspor-tation,petroleumchemistry,building,electronicandetc.[1].But,onekeyaspectoftheautomaticstampingproc-essinglineistodevelopamechanicalmanipulatorwiththecharacteristicofthehigh-speedanddynamictrans-mission.Atpresent,thesheetmetalformingproductionlineisoperatedatthehighproductiverateof15-25SPM.Re-movingthetimespentbythepressstampingoperations,thereisonlyabout2slefttotherobotmanipulator.Insuchashortperiodoftime,themanipulatorhastooper-ateatahighspeedof200-250m/min,sothattheopera-tionssuchasloading,movingandunloadingcanbeful-filled.Andthishasputforwardhigherrequirementstothemechanicalstructure,materialfrictioncharacteristics,andstructuraldynamiccharacteristicsoftherobotmani-pulator.Takingahigh-speedplatecarryingmanipulatorastheresearchobject,thispaperfirstlyanalyzesthestructureandconnectingrodparameters;thenadoptsthestandardD-Hmethod[2]toestablishthekinematicsequation;andthendiscussesthepositiveandinversekinematicsalgo-rithm,andthetrajectoryplanningproblems;finallyintheenvironmentofMatlab,thekinematicsmodelisbuilttotakekinematicssimulationbyusingofRoboticsToolbox[3].Insimulationprocess,wecannotonlydirectlyob-servetherobotmotion,butalsogettherequireddatainthegraphicform.Therefore,thevirtualperformaceoftheproductcanbetestedintheconceptualdesignstage,soastoimprovethedesignperformance,reducedesigncostanddecreaseproductdevelopmenttime.2.TheStructureDesignandLinkParametersofHigh-SpeedPlateCarryingManipulator2.1.TheDesignRequirementsofHigh-SpeedPlateCarryingManipulator2.1.1.TheWorkplaceofHigh-SpeedPlateCarryingManipulatorThetraditionalstampingprocessingmethodreliesonastand-alonemanualwhichisinefficient,inaccurateandin-security.Soithasalreadybecomeincreasinglyunsuitedtotherequirementsofmodernmassproduction,espe-ciallywhentherequirementsofthesheetmetalprocess-ingannualoutputexceedsthousandstons,thiscontradic-Copyright©2012SciRes.ENGK.WANG,J.P.ZHOU851tionismoreprominent.Thecurrentstampingequipmentistowardthetrendofautomation,setsandonlinede-velopment.WiththerapiddevelopmentofChina’smar-keteconomy,especiallyinthecoastalareaswheretheshortageofskilledworkersissevere,andlaborcostsrisessharply,manymachinerymanufacturershavetheurgentdemandformanufacturingautomation,andre-quiremachineandequipmentmanufacturingindustrytoprovideuserswithacompletesetofon-linetechnicalservicestoimproveproductionefficiencyandreducelaborcosts.Therefore,thedevelopmentofthetechnol-ogyofsheetmetalproductionlineisevenmoreimportant.Oneofthecoretechnologiesofsheetmetalstampingequipmentlineisthedesignofhigh-speedplatecarryingmanipulator.AsshowninFigure1,itishigh-speedplatecarryingmanipulatorintheapplicationofstampingpro-cessingcompletesetsofequipmenton-linesystem.2.1.2.TheOperationProcessofHigh-SpeedPlateCarryingManipulatorAccordingtothecompositionofthestampingprocesssetsofon-linesystemandtheroleofthehigh-speedplatecarryingmanipulator,theworkingcycleofamanipulatorcontainsnineactionprocess,asshowninFigure2:1)Fromthepointoforigin,theleftelectromagneticvalveisenergizedafterpressingthestartbutton,thenthemanipulatormovestotheleft.Itwon’tstopuntiliten-counterstheleftlimitswitch.2)Simultaneouslythemanipulatorbeginstodropafterthedecreasedelectromagneticvalveopens,then,itwon’tstopuntilitencountersthelowerlimitswitch.3)Att