Structural Design and Simulation of a Manipulator for Automatic Loading and Unloading of Small Bagged Medicines / 小袋药品自动上下料机械手的结构设计及仿真

https://elibrary.ru/FSJGES

Abstract

Replacing traditional gantry manipulators with truss-cantilever manipulators can not only simplify the mechanical structure and facilitate lightweight design but also reduce the space occupied by the mechanism. This paper analyzes the structure and working principle of the manipulator and its application in loading and unloading processes. Mechanisms such as gear racks, guide rail sliders, and negative pressure suction cups are employed in the scheme design and simulation of the manipulator structure. The manipulator is designed with an array of suction cups as the end effector, which helps minimize damage to pharmaceutical packaging and improves grasping stability.