一种用于种子分选机的高速并联机械手  

Optimizational design and simulation of high-speed parallel manipulator for seed separator

作　　者：樊勇[1] 王正灿[1] 王洪斌[1] 石永建[1] 

机构地区：[1]天津科技大学机械工程学院,天津300222

出　　处：《食品与机械》2015年第3期102-107,共6页Food and Machinery

摘　　要：针对种子分选机执行机构速度快、负载低的工作特点,设计出一种高速小型的并联机械手作为种子分选机的执行机构;采用SolidWorks和MATLAB软件联合仿真技术,建立机械手完整的仿真模型,采用全域性能指标对并联机构进行优化设计;结果显示,在机械手工作范围内的雅克比矩阵的条件数较小,波动平稳,机械手的运动学性能和传动性能均好。研究结果对机械手样机的建立以及控制方法有一定的参考价值。For seed separator actuator working characteristics of the low speed and low load,a small high-speed parallel manipulator was designed as seed separator of actuators.Using SolidWorks and MATLAB software simulation technology,established the simulation model of robot hand fully,and Usesd full performance indicators to make optimization design for parallel mechanism.The results show that the manipulator work within the scope of the condition number of jacobian matrix is small,smooth fluctuations,and manipulator kinematics performance and driving performance are good.Research on the establishment of the prototype of the manipulator and the control method has certain reference value.

关 键 词：种子分选机 并联机械手 MATLAB/SimMechanics SOLIDWORKS 

分 类 号：S223.12[农业科学—农业机械化工程]