Working Mechanism and Numerical Simulation of a Novel 6-DOF Robotic Crusher

Abstract

Abstract Based on the inter-particle breakage theory and characteristics of oscillating motion, a novel 6-DOF robotic crusher is proposed which combines the chamber structure of the cone crusher with the high flexibility of the parallel robot. According to the method of analytical geometry, equations of the inverse and forward models are deduced. Then, considering the periodicity of eccentric rotation, the trajectory model of the oscillating motion is established by using an eccentric simulation. Based on the derived model, the motion variation of the actuators can be solved by ADAMS. Finally, the liner wear of the concave is deduced by a numerical example which can provide a theoretical foundation for the development of the intelligent crusher.