Dynamic Analysis on a Feeding and Unloading Manipulator Using Kane's Method Combined with Screw Theory

This paper deals with the kinematics and dynamics of an automatic feeding and unloading manipulator for coupling processing machine. To provide a basis for the structure design and motion control, the kinematics and dynamics meets the need of manufacturing conditions and technological process in production are systematically studied. The dynamics model based on Kane's method and screw theory is established in this paper. Dynamics characteristic performances, and needed driving force of the system are obtained according to planning trajectory. The result shows this kinematics and dynamics method proposed in this paper are very useful, and provide theoretical foundation and guidance for designing feeding and unloading manipulator.