Research and Design of Kinematics Characteristics of Molded Sole Inspection End-effector

Based on the multi-color shoe molding robot, the kinematics characteristics of the robot inspection end-effector were investigated by analyzing the expression of the reference point of the end-effector in the local coordinate system and the motion logic relationship by using local coordinate system and global coordinate system transformation. By using backtracking method, a mathematical model for checking the trajectory of end-effector is derived, and its velocity and acceleration are analyzed. Furthermore, this method is applied to the wrist and arm to obtain the kinematic characteristics of the key parts of the robot. A case study shows that this method is convenient and practical to study and determine the motion characteristics of the robot, and it is convenient to grasp the local key details and the overall macro state, so as to ensure the optimal kinematic characteristics and motion function of the robot. Finally, when a point in the end-effector coordinate system is in the first stage, the inertia force on the big arm and forearm is small, the balance of the component is good, and the acceleration is in the ideal range. And the current study combines the kinematic analysis with concrete multi-color sole molding process and production rhythm requirements, in order to provide theoretical basis for the subsequent optimal design and control system of the robot.