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Design of the End-effector of Waste Lithium-ion Battery Handling Robots
- Source :
- Jixie chuandong, Vol 48, Pp 93-101 (2024)
- Publication Year :
- 2024
- Publisher :
- Editorial Office of Journal of Mechanical Transmission, 2024.
-
Abstract
- In order to solve the problem of waste lithium-ion battery recycling, a robot end-effector is designed to carry the battery weight and adapt to different sizes in the process of sorting. In this study, each mechanism of the end-effector is introduced. The kinematic model of the six-bar mechanism is established by further checking the toe-bar six-bar mechanism. The rod length and position parameters of six-bar mechanism are optimized by genetic algorithm-BFGS (GA-BFGS) quasi-Newton method and particle swarm optimization-BFGS (PSO-BFGS) quasi-Newton method, and the dynamics model of the six-bar mechanism is established. The driving force required by no load and the radial force in the handling process under the limit condition are calculated and simulated. This study provides a new idea of the six-bar drive mechanism, and provides reference for the research and development of the waste lithium-ion battery sorting equipment.
Details
- Language :
- Chinese
- ISSN :
- 10042539
- Volume :
- 48
- Database :
- Directory of Open Access Journals
- Journal :
- Jixie chuandong
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.b3fd97c1871d461c9f9aba1b662dd057
- Document Type :
- article
- Full Text :
- https://doi.org/10.16578/j.issn.1004.2539.2024.03.013