Design of the End-effector of Waste Lithium-ion Battery Handling Robots
In order to solve the problem of waste lithium-ion battery recycling, a robot end-effector is designed to carry the battery weight and adapt to different sizes in the process of sorting. In this study, each mechanism of the end-effector is introduced. The kinematic model of the six-bar mechanism is...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2024-03-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.03.013 |
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| _version_ | 1841546957382746112 |
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| author | Zhang Hongsheng Deng Ze |
| author_facet | Zhang Hongsheng Deng Ze |
| author_sort | Zhang Hongsheng |
| collection | DOAJ |
| description | In order to solve the problem of waste lithium-ion battery recycling, a robot end-effector is designed to carry the battery weight and adapt to different sizes in the process of sorting. In this study, each mechanism of the end-effector is introduced. The kinematic model of the six-bar mechanism is established by further checking the toe-bar six-bar mechanism. The rod length and position parameters of six-bar mechanism are optimized by genetic algorithm-BFGS （GA-BFGS） quasi-Newton method and particle swarm optimization-BFGS (PSO-BFGS) quasi-Newton method, and the dynamics model of the six-bar mechanism is established. The driving force required by no load and the radial force in the handling process under the limit condition are calculated and simulated. This study provides a new idea of the six-bar drive mechanism, and provides reference for the research and development of the waste lithium-ion battery sorting equipment. |
| format | Article |
| id | doaj-art-b3fd97c1871d461c9f9aba1b662dd057 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2024-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-b3fd97c1871d461c9f9aba1b662dd0572025-01-10T14:59:59ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392024-03-01489310150737435Design of the End-effector of Waste Lithium-ion Battery Handling RobotsZhang HongshengDeng ZeIn order to solve the problem of waste lithium-ion battery recycling, a robot end-effector is designed to carry the battery weight and adapt to different sizes in the process of sorting. In this study, each mechanism of the end-effector is introduced. The kinematic model of the six-bar mechanism is established by further checking the toe-bar six-bar mechanism. The rod length and position parameters of six-bar mechanism are optimized by genetic algorithm-BFGS （GA-BFGS） quasi-Newton method and particle swarm optimization-BFGS (PSO-BFGS) quasi-Newton method, and the dynamics model of the six-bar mechanism is established. The driving force required by no load and the radial force in the handling process under the limit condition are calculated and simulated. This study provides a new idea of the six-bar drive mechanism, and provides reference for the research and development of the waste lithium-ion battery sorting equipment.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.03.013End effectorSix-bar mechanismQuasi Newton methodDynamics simulation |
| spellingShingle | Zhang Hongsheng Deng Ze Design of the End-effector of Waste Lithium-ion Battery Handling Robots Jixie chuandong End effector Six-bar mechanism Quasi Newton method Dynamics simulation |
| title | Design of the End-effector of Waste Lithium-ion Battery Handling Robots |
| title_full | Design of the End-effector of Waste Lithium-ion Battery Handling Robots |
| title_fullStr | Design of the End-effector of Waste Lithium-ion Battery Handling Robots |
| title_full_unstemmed | Design of the End-effector of Waste Lithium-ion Battery Handling Robots |
| title_short | Design of the End-effector of Waste Lithium-ion Battery Handling Robots |
| title_sort | design of the end effector of waste lithium ion battery handling robots |
| topic | End effector Six-bar mechanism Quasi Newton method Dynamics simulation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2024.03.013 |
| work_keys_str_mv | AT zhanghongsheng designoftheendeffectorofwastelithiumionbatteryhandlingrobots AT dengze designoftheendeffectorofwastelithiumionbatteryhandlingrobots |