Design of the End-effector of Waste Lithium-ion Battery Handling Robots
Zhang Hongsheng
Deng Ze
Abstract：In order to solve the problem of waste lithium-ion battery recycling,a robot end-effector is de-signed to carry the battery weight and adapt to different sizes in the process of sorting.In this study,each mecha-nism 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 opti-mized 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 driv-ing force required by no load and the radial force in the handling process under the limit condition are calculat-ed 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.
Keywords：End effectorSix-bar mechanismQuasi Newton methodDynamics simulation
Publication Date：2024-03-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：9( 93-101 )