Flexible blank removal robot for ceramic production line
Keywords:
Slip Casting, Robotic Grasping, Vacuum End Effector, Harmonic Drive, Structural SimulationAbstract
The manual handling of wet ceramic greenware after slip casting results in low efficiency, high breakage rates, and harsh labor conditions. To address these issues, this paper presents the design and simulation of a flexible greenware-picking robot tailored for slip casting production lines. An articulated rotary coordinate structure with six degrees of freedom is adopted. Key components including the forearm, wrist, and rotary base are designed and calculated. A vacuum suction cup matrix is selected as the end effector, and a harmonic reducer is integrated for precise torque transmission. A digital prototype is constructed using SolidWorks, followed by kinematic and force simulations. Simulation results verify that the robot achieves a stable grasping force of 350 N distributed across four suction cups, a rated payload of 5 kg, and positioning accuracy of ±3–5 mm. The robot operates within a workspace of 2500 mm × 1200 mm × 1100 mm and meets the cycle time requirements of typical slip casting lines. This work provides a verified paradigm for robotic automation in the ceramic industry.
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