Design and Application of the Handing Manipulator used in the Silicon Steel Automatic Checking Assembly Line

A kind of handing manipulator used in the silicon steel automatic checking assembly line was designed.The manipulator is a robot with 5-DOF space joint.By the robot mechanism theory,the kinematics equation of manipulator is derived,the relations between the manipulator terminal pose and the variable of the joint are determined,the structure design and control system design are carried out.The manipulator can accomplish eight kinds of movements such as grasp,up-down,rotate and horizontal movement etc,and it can realize three manners of control mode by the PLC.Through the practical operation,the handing manipulator has many strong points which involve good stability,high productivity,finishing the sampling task of silicon steel correctly immediately,satisfying design requirement,realizing the automated operation.