水泥装车机械手运动学分析与仿真  

Kinematics Analysis and Simulation of the Cement Truck Loading Manipulator

作　　者：武金艺 黄金凤 刘琬钰 崔建国 

机构地区：[1]华北理工大学机械工程学院,河北唐山063009

出　　处：《机械传动》2015年第9期99-103,108,共6页Journal of Mechanical Transmission

摘　　要：针对水泥装载行业的实际需要,设计开发一种袋装水泥自动装车机。提出一种结构简单、驱动部件少、控制容易的装车机械手。介绍了串并混联式的自动装车机整体设计方案和基于并联机构的装车机械手基本结构组成,建立了机械手运动学模型,得出位置、速度及加速度的运动学逆解解析式。在机械手末端运动轨迹规划的基础上,将运动学导入Matlab软件进行运动仿真计算,绘制出机构的位置、速度及加速度的变化曲线,为机械手机构的机械设计和优化、驱动伺服电机的选型提供参考。Aiming at the practical needs of the cement loading industry, a kind of bagged cement automatic loading machine is developed and designed. Besides a truck loading manipulator with the characteristic simple structure, fewer driving parts, easy to control is presented. Firstly, the overall structure scheme of the automatic loading machine and basic structure of loading manipulator based on parallel mechanism are introduced, the kinematics model of manipulator is established, the kinematics inverse solution of position, velocity and acceleration are obtained. On the basis of the motion trajectory planning of the manipulator end, through importing kinematics solution into the movement simulation software Matlab, the kinematics simulation calculation is carried out, the mechanism change of position, velocity and acceleration curve are drawn out, a reference for the mechanical design and optimization of a manipulator mechanism and the type selection of drive servo motor is provided.

关 键 词：水泥装载 并联机构 运动学 仿真 

分 类 号：TQ172.6[化学工程—水泥工业] TP241[化学工程—硅酸盐工业]