穿鞋带机械手的动力学分析与仿真  

Dynamics Analysis and Simulation of Wearing Shoes Manipulator

作　　者：严楠[1,2] 陈罡[1] 高晓丁[2] 孟静[2] 

机构地区：[1]浙江纺织服装职业技术学院机电学院,浙江宁波315211 [2]西安工程大学机电工程学院,陕西西安710048

出　　处：《机械与电子》2014年第10期71-74,共4页Machinery & Electronics

基　　金：产业技术创新及成果产业化重大项目(2013B10013;2013B10045);浙江省科技厅项目(2013R40025)

摘　　要：基于ADAMS软件,研究了新型穿鞋带机械手在变负载工作情况下,各驱动关节的力和力矩变化情况,并与空载运行状态进行比较,分析了机械手牵引鞋带翻转过程中对驱动机构的扰动,并对移动副进行了优化设计。分析结果为后续驱动电机选型、零件选择和振动分析提供重要依据,有利于提高机械手的运动控制及动态特性。Change of the force and moment of each driving joint of new wearing shoes manipula-tor is researched,which is based on ADAMS soft-ware under variable load working condition.The disturbance for driving mechanism of manipulator traction shoelaces is analyzed in the process of its flipping,which is compared with the state of no load running.And optimization design is carried out on the prismatic pair.Important basis is provided for subsequent drive motor selection,selection for material and vibration analysis based on above analysis results,which is also helpful to improve the motion control of manipulator and dynamic characteristics.

关 键 词：ADAMS 关节驱动 穿鞋带机械手 变负载 

分 类 号：TH113[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]