垃圾清运车机械手结构设计与仿真

湖北大学知行学院毕业本科设计ABSTRACTThe claw robot system of the refuse removal vehicle is the subject of this paper.Theactions of grabbing,retrieving,dragging,turning,tipping and returning empty bins to reset areall performed by the manipulator,which is an integral part of the waste vehicle.According tothe technical specifications and practical objectives of the assignment,the overall structuralsolution of the manipulator is planned,as well as the kinematic and structural optimisationdesign of the manipulator.The main points covered in this paper are as follows:the selectionof the structural solution and control system for the manipulator,the applicable parametersbased on the motor model selection.The geometric model of the manipulator is establishedand the working theory of the manipulator system is studied.The design of the maincomponents is included.The controller was selected as a PLC,which is a highly stableindustrial controller designed and manufactured specifically for harsh industrial environments.The controller was selected from a Siemens S7-200 PLC,which is commonly used inChina.The drive was constructed to meet all the expected specifications and objectives of thedesignKeywords:Controllers;PLCs;robots;waste removal