Kinematic analysis of adjusting mechanism of bamboo and wood-based special-shaped panels sucker based on graph theory and closed-loop vector method

This article designs a suction cup adjustment mechanism for board conveyors, which has solved the problem of poor equipment adaptability caused by different shapes and sizes of bamboo and wood shaped boards during transportation. Firstly, a kinematic model of the mechanism was established by combining graph theory with closed-loop vector method, and its kinematics were systematically studied, including position, velocity, acceleration, and singular position, and the influence of main structural parameters on the motion behavior of the mechanism was discussed. Secondly, the dynamic model of the mechanism was established using the principle of Jean le Rond d’Alembert, and the driving force and internal forces acting on each component were obtained. Then, numerical simulation verification including kinematic and dynamic models was completed. Finally, the effectiveness of the mechanism was verified through the experiment of grasping heterogeneous boards. This study will lay a solid theoretical foundation for the application of this new type of heterogeneous boards suction cup gripper.