Design Method of Cam Five-bar Paper Picking Mechanism of Packaging Machine Based on Position and Orientation Constraints

Abstract

The work aims to present a design method of cam five-bar paper taking mechanism of packaging machine based on position and orientation constraints to better meet the position and orientation requirements of the end paper taking actuator in the high-speed paper picking process. At the first stage, according to the given ideal position and orientation requirements of the end paper taking actuator, the mathematical model of the five-bar mechanism satisfying the position and angle constraints is established by using the kinematic mapping theory, and two cams are used to constrain the two freedom of the five-bar mechanism to obtain the cam five-bar paper taking mechanism. At the next stage, the relationship between the five-bar mechanism and the cam angle under the given position and angle constraints is solved, and the theoretical profile of the cam is established by using cubic spline curve function. Finally, the whole paper taking mechanism is optimized to obtain the best mechanism parameters. Through the design example of the cam five-bar mechanism of the high-speed packaging machine, it is verified that the designed value taking mechanism can accurately realize the given orientation point, and there is no contour distortion of the cam. This method can not only realize the given position and orientation of the end actuator, but also further optimize cam profile of the paper taking mechanism to improve the running stability and accuracy.