六自由度搬运机械手液压系统的设计  

Design of Hydraulic System for Handling Robot with 6-DOF

作　　者：张存鹰[1,2] 王才东[3] 郑辉[3] 

机构地区：[1]河南职业技术学院机电系,河南郑州450046 [2]河南理工大学机械与动力工程学院,河南焦作454150 [3]郑州轻工业学院机电工程学院,河南郑州450002

出　　处：《机床与液压》2016年第11期41-44,共4页Machine Tool & Hydraulics

基　　金：河南省科技攻关项目(122102210435)

摘　　要：在分析车轮轮毂生产线技术需求的基础上,设计一种六自由度液压搬运机械手结构与控制系统,分析了液压系统的工作原理。为使液压缸的输出力最小,建立了液压缸输出力与结构参数的数学模型,并基于Matlab软件对机械手结构进行优化设计。最后对液压系统的关键部件进行了设计计算与分析,分析表明:该液压系统完成了对机械手的伺服控制,满足汽车轮毂搬运要求,该研究为同类工业机器人液压系统的设计提供了参考。Based on the analysis of the technical requirements of automotive wheel hub manufacturing line,a kind of six degrees of freedom( 6-DOF) hydraulic handling robot of structure and control system was designed. The working principle of the hydraulic system was analyzed. In order to minimize the output of the hydraulic cylinder force,a mathematical model of output force of hydraulic cylinder and structural parameters were established,and the robot structure design was optimized based on Matlab software. Finally design calculation and analysis were done on the key components of hydraulic system. The analysis shows that the hydraulic system implements servo control on the robot,and satisfies handling requirements of automotive wheel hub,which research can be as reference for design of similar type of industrial robots' hydraulic system.

关 键 词：机械手 六自由度 液压系统 MMM 

分 类 号：TH137[机械工程—机械制造及自动化]