Kinematic analysis of Manipulator for Insulating Glass Production Line

: Aiming at the current situation of loading and unloading operation of insulating glass production line, and according to the workstation and process requirements of the manipulator in the insulating glass production line, a manipulator suitable for vertical insulating glass production line is designed. The manipulator body adopts a series structure with two moving pairs and one rotating pair. The kinematics of manipulator is analyzed by D-H method. The manipulator can meet the production requirements of insulating glass.


Introduction
Various robots have been widely used in the manufacturing industry, but some insulating glass production lines are still manually loading and unloading, resulting in low production efficiency.According to the workstation and process requirements of the manipulator in the insulating glass production line, a manipulator suitable for vertical insulating glass production lines is designed to improve the production quality and productivity of insulating glass.The manipulator body adopts a series structure, with two moving pairs and one rotating pair, which can reach the designated position to suck and release glass according to instructions.

Manipulator Structure of Insulating
Glass Production Line

Production process of insulating glass
The vertical insulated glass automated production line equipped with manipulators is shown in Figure 1.The dashed box represents the current insulated glass production process.The raw materials are manually placed on a conveyor, and the insulated glass is manufactured through three processes: cleaning, gluing, and pressing.Finally, the finished product is manually removed and placed in a designated location.

Manipulator structure
The working process of the manipulators in the insulating glass production line is as follows: the loading manipulator extends to the given stroke, then descends to the specified position to extract the glass and return along the original path, the glass is placed on the conveyor, which then undergoes cleaning, gluing, and pressing processes, the glass is then transported to the position of the unloading manipulator through the conveyor, and the unloading manipulator completes the stacking work.Both the loading and unloading processes require 3 degrees of freedom to meet the requirements.
The manipulator has 2 moving pairs and 1 rotating pair, mainly composed of a base, rack and pinion, electric push rod, end effector, etc.The structure is shown in Figure 2. According to the process requirements of the production line, the forward and backward movement range of the robotic arm is 0-1350mm, the lifting range is 0-950mm, the load capacity is 300kg, and the flipping angle range of the robotic arm end effector is 0 0 -30 60 ∼ .

Kinematic model of manipulator
The D-H method is used to establish the coordinate system of the manipulator [1], as shown in Figure 3.The D-H parameters of the manipulator are shown in Table 1.The general formula [2][3] for connecting rod transformation is Substituting the D-H parameters of the robotic arm into equation (1), yields 0 1 1 The pose of the end effector can be obtained from equation (2).
By equating the corresponding elements of equations ( 3) and ( 4), it can be obtained that

Kinematic simulation analysis
The 3D model of the robotic arm is imported into ADAMS software, the attributes, constraints, and simulation time of the part T=120s are set, and the driver functions shown in Table 2 are added.The displacement curve and motion trajectory of the end point shown in Figure 4 are obtained through simulation.The displacement at any given moment on the end point displacement curve is basically consistent with the value calculated by MATLAB.From Figure 5, it can be seen that the running trajectory of the endpoint matches the expected glass grasping path.

Conclusion
In order to improve the automation level of the insulating glass production line and meet the needs of the production line, a vertical insulating glass production line manipulator has been designed.The D-H method is used to analyze the kinematic problem of the robotic arm, and the correctness of the kinematic solution is verified using ADAMS software.

Figure 1 .
Figure 1.Production process of insulating glass