Structure Design and Simulation Analysis of Under-Rank Endpicker of Hub Forging Robot

This In order to solve the problems of single grasping mode, poor grasping stability and adaptability of forging robot endpicker, a wheel forging robot under-rank endpicker was designed, and its grasping stability and adaptability were verified by motion simulation. Firstly, the design of under-rank endpicker was carried out and its adaptive envelope grasping process was analyzed. Then, taking the right finger of endpicker as an example, the kinematics model was established by D-H modeling method, and the motion space of endpicker was simulated by MATLAB. Finally, the simulation model of under-rank endpicker was established in ADAMS software, and it is proved that the under-rank endpicker of wheel forging robot can grasp multi configuration and multi size objects, and has strong adaptive clamping ability. The simulation results show that the clamping space of the single finger of the end-pick in the plane is 118.34mm×189.7mm, which has a large clamping range; the standard deviation of the contact force at each knuckle contact point is 1.13N. Due to the existence of the error, the contact force can be approximately considered to be equal, which effectively proves that the under-rank endpicker can achieve uniform force stable envelop clamping.