Design and Analysis of A Sliding-Rod Robot StudentChin-Lung Chiang AdvisorsRong-Fong Fung,Ph.D. Department of Mechanical and Automation Engineering National Kaohsiung First University of Science and Technology Abstract Sliding-rod robots are used to grasp and hold objects for the purposes of movement, assembly and inspection. The sliding-rod robots are the most common used robots in the automated facilities. The purpose of this study is to investigate and analyze their actuating mechanisms including manipulator, floating joint, and gripper. In this study we focused on the design and analysis of guided mechanisms, floating joints, and gripper mechanisms and gripper forces of sliding-rod robots. We present twelve types and thirty-six assembly configurations for guided mechanism design; twenty-six types for floating joint design and their force analysis, including the stress in the gear threads and pivots; the analytical and experimental results of gripper forces for five common grippers; and multimedia-based presentation of assembly procedures for sliding-rod robots. The presented results provide a lot of design guidelines and examples for automated equipment industries. It is also an excellent engineering reference for the training courses of industrial automation, such as mechatronics, system integration, automatic control, mechanism design, mechanical system design, etc. Keywords: Sliding-rod robot; Guided mechanism design; Floating joint design; Gripper design
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W W σ a = = A π 2 4 d
τ a = W A = π 2 d τ
b L1 P g L2 a D1 D2 4
θ ab F sinθ ab F cosθ L1 Fout = L2 Fn = L2 F cosθ L2 F out = F cosθ L1 g L 1 F out b F θ F n a L 2 F t 1 π 2 2 π 2 2 F = P ( D ) ( 2 4 8 ) 2 D1 = P D2 D1 L2 π 2 2 F out = P( D2 D1 )cosθ L1 8 F s = k x = k( x 0 x) k 1 F = F s 2 L2 k F out = ( x 0 x)cosθ L1 2
L2 π 2 2 F out = P( D 2 D1 )cosθ L1 8
π 2 2 ( D2 D1 ) 4 π 2 4 D c F out1 θ g
1 π 2 π 2 F = P D = P D 2 4 8 F out L2 π 2 2 1 = P D cos θ L1 8 F S = k x = k( x 0 x) 1 F = F S 2 2 = ( x x) θ L2 L1 k 2 F out 1 0 cos
L2 k F 2 out 1 = ( x0 x) cos θ L 2 1
π =
Y
F out1 T F out1 k = k x ) F out1 ( 0 x P T = ω P ω s rad / N m Wt
F out1 T P W t = = > F out1 D ω D D F out1 T F ou1t P T = ω P ω rad / s N m 1 T T P Fout1 = Wt = = = 2 D / 2 D ω D W t D
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