木材表面强化与装饰自动化生产线ZY-06L型机械手运动分析与仿真  

Wood Surface Layer Strengthening and Decorative Automated Production Line ZY-06L-Type Manipulator Motion Analysis and Simulation

作　　者：吴昊[1] 王鸿钧[1] 

机构地区：[1]红河学院,云南蒙自661100

出　　处：《东北林业大学学报》2014年第6期137-142,共6页Journal of Northeast Forestry University

基　　金：云南省基础研究计划面上项目(2013FB062)

摘　　要：通过建立机械手的运动学方程,结合机械手在实际工作环境中的位置坐标参数与需要搬运物件的位置坐标,代入求解方程,得到机械手末端执行器位姿与各关节变量之间的关系。运用大型工程软件UG NX8.0对机械手进行建模与仿真,分析结构设计与工作流程设计的合理性。仿真结果显示:机械手工作可达范围满足设计要求,末端执行器在初始位置、物件初始位置、物件目标位置时的位姿与预期值相符,末端执行器速度与过载变化情况均在设计要求范围内。机械手运动方程建立与求解正确,运动动作合理,机械手机构方案可满足设计要求。Through building the manipulator kinematics equations combined with the manipulator location coordinates and the location coordinates of requires moving objects in the actually environment, we solved the equation to obtain the relationship between manipulator end-effectors position and respective joint variables. We used engineering software UG NX 8.0 for modeling and simulation of the manipulator, and analyzed the rationality of structural and workflow design. With the simulation results, the displacement of manipulator end-effeetors can achieve the design requirements. When the end-effectors are in the initial position, the object initial position and object target location, the position and attitude are consistent with the expected value, and the speed and load changes are within the scope of the design requirements.

关 键 词：木材加工 机械手 运动学方程 仿真分析 

分 类 号：TS64[轻工技术与工程]