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Design and Analysis of a New Parallel Glass Handling Manipulator

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DOI: 10.23977/jemm.2023.080107 | Downloads: 34 | Views: 472


Yan Shi 1,2, Luzheng Wang 1,2, Lianhe Guo 3, Chengsen Gao 1,2, Fei Liang 1,2


1 Department of Mechanical Engineering, Hebei University of Water Resources and Electric Engineering, Cangzhou, Hebei, 061001, China
2 Industrial Manipulator Control and Reliability Technology Innovation Center of Hebei, Cangzhou, Hebei, 061001, China
3 Unit 95927 of the PLA, Cangzhou, Hebei, 061001, China

Corresponding Author

Luzheng Wang


Glass handling manipulator plays an important role in the field of advanced manufacturing. It can replace human beings to carry out glass handling work and can realize the mechanization and automation of production. In the current glass production line, most glass handling manipulators have problems such as low speed, small range of movement, and low efficiency. Therefore, a glass handling manipulator with nine axes and six degrees of freedom closed-loop structure is designed. The motor drive is used to make it complete the efficient grasping and placing work in a large range. The three-dimensional model of the mechanism is established in SolidWorks, and its dynamic simulation analysis is carried out. Stress analysis on the crossbar under the maximum stress is conducted, and the rationality of the mechanism model is verified through simulation. The structure changes the current situation of low flexibility of traditional manipulator and greatly facilitates the glass handling.


Manipulator, Glass Handling, Parallel Mechanism, Dynamics Analysis


Yan Shi, Luzheng Wang, Lianhe Guo, Chengsen Gao, Fei Liang, Design and Analysis of a New Parallel Glass Handling Manipulator. Journal of Engineering Mechanics and Machinery (2023) Vol. 8: 61-66. DOI:


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