Dynamic Analysis and Dimensional Synthesis of Easy-to-Protect Large-Load Robot for Extracting Fermented Grains

To improve the operation situation of difficulty and low efficiency in the extraction of fermented grains (FG), a high-load and large-workspace reclaiming robot for ceramic cylinder fermentation is designed, and a reclaiming effector is designed according to the operating characteristics. Firstly, the kinematics and singularity of the mechanism are analyzed. A multi-domain polar coordinate search method is proposed to obtain the workspace and the volume of the mechanism. Secondly, the dynamic modeling is completed and the example simulation is carried out. Thirdly, the motion-force transmission index of the mechanism is established. And based on the global transmissibility and the good-transmission workspace, the dimensional synthesis of the driving mechanism is completed by using the performance atlas-based method. Finally, aiming at the regular workspace size, stiffness and loading capacity, the Pareto optimal solution set of the executive mechanism dimension is obtained by using the multi-objective particle swarm optimization (MOPSO) algorithm. This paper can provide a theoretical basis for the optimal design and control of FG reclaiming robot.