工程排险机器人抓手设计与性能仿真  

Design and Performance Simulation for Grab on Emergency Engineering Robot

作　　者：马振书[1] 卞学良[2] 楚晓婧[2] 尹娟娟[2] 

机构地区：[1]中国科学技术大学 [2]河北工业大学机械学院,天津市红桥区300130

出　　处：《工程机械》2008年第7期25-28,共4页Construction Machinery and Equipment

摘　　要：工程排险机器人主要用于施工中危险弹丸的排除作业,其工作装置中的抓手是准确抓取危险弹丸的关键部件,抓手抓取的准确性和可靠性直接关系到整机的工作性能。为此,设计了一种四杆弯臂式液压抓手,抓手手指的开闭范围为30～180mm。介绍了抓手的结构与工作原理,推导了夹紧力的计算公式,利用ADAMS软件对抓手的性能进行仿真分析,验证了理论公式的正确性,为抓手的设计和性能优化提供了依据。Emergency engineering robot is used to remove dangerous projectiles in construction. The grab in its attachment is a key part to accurately grasp dangerous projectiles; its operation accuracy and reliability directly relates the work performance of basic machine. A curved arm type hydraulic grab with four bar linkage is designed and it presents a finger open range from 30 to 180 mm. Structure and work principle of the grab are described and calculation formula for grabbing force is derived. A simulation analysis for the grab performance is conducted with ADAMS software and the formula correctness is verified, which provide a basis for the design and performance optimization of grabs.

关 键 词：抓手 性能仿真 受力分析 ADAMS 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP241.3[自动化与计算机技术—控制科学与工程]