自动上下料机械手运动学分析及仿真  

Kinematics analysis and simulation for auto-materiel feeding manipulator

作　　者：王战中[1] 张俊[1] 季红艳 赵赛[1] 臧丽超 

机构地区：[1]石家庄铁道大学,石家庄050043 [2]武警石家庄士官学校训练部,石家庄050061

出　　处：《机械设计与制造》2012年第5期244-246,共3页Machinery Design & Manufacture

基　　金：河北省自然基金(F2008000448);河北省教育厅项目号(2009335);河北省科技支撑项目(12212113D)

摘　　要：基于数控机床-机械手加工系统的布局及功能,详细分析了上下料机械手的结构,并运用D-H参数法建立了该机械手的运动学方程。与此同时,对该机械手进行了正运动学和逆运动学分析,通过计算验证了,经运动学正解所求得的机械手末端位姿表达式T是正确的。最后,基于用Solid-Works软件建立的机械手三维立体模型,用ADAMS软件对机械手完成自动上下料的过程进行仿真,得到上下料轨迹曲线。仿真结果符合工作过程的实际情况,说明该机械手运动学方程是有效的。Based on the CNC machine tools-robot manufacturing system layout and function,the structure of this feeding manipulator is analyzed in detail,which kinematics equation is established with D-H methods.At the same time,the forward and inverse kinematics of this manipulator are analyzed,and the expression T of the end position of this manipulator got from the forward kinematics solution of this manipulator is verified to be right.At last,based on the manipulator＇s 3D model established with SolidWorks software,the process of automatic feeding from top to bottom is simulated with ADAMS software and the trajectory is obtained.The simulation result is in line with the actual situation of the working process,indicating that the robot kinematics equation is valid.

关 键 词：自动上下料机械手 运动学分析 仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]