五自由度放射源拾取机械臂研制  

Research on the Five-degree of Freedom Manipulator for Picking Radioactive Source

作　　者：王振玉[1] 杨斌[1] 滕大力 

机构地区：[1]成都理工大学工程技术学院,乐山614007 [2]吉林大学机电设备研究所,长春130117

出　　处：《机电一体化》2017年第9期14-18,共5页Mechatronics

基　　金：四川省教育厅项目(16ZB0398);学院青年基金(C122014001)

摘　　要：为减小放射源在取样过程中对人体的危害,研制一台五自由度放射源拾取机械臂,主要由一个三轴悬臂机构和一个腕关节机构组合而成,前端为拾取机构,可以方便完成放射源的取样。在三维空间范围内通过三轴悬臂机构使拾取机构可靠定位,通过腕关节机构精确调整拾取机构的运动姿态。建立机械臂数学模型并构建运动学方程,采用Pro/E5.0软件进行三维数字化设计,通过UG软件进行拾取杆臂的有限元分析预处理,在ANSYS软件中完成计算。最后完成实物制作。系统结构紧凑,安全可靠,实用性强,适应性好,也可应用于医疗、矿山等领域,具有良好的工程应用价值。The five-degree of freedom manipulator for grasping radioactive source had been developed in order to reduce the harm of radioactive sources to human body. It was composed of a three axis cantilever mechanism and a wrist joint mechanism. It had achieved five degrees of freedom movement in three- dimensional space movement. The movement of the front picking mechanism which can easily complete to pick the sample of radioactive sources had been controlled by the wrist joint mechanism precisely. The mathematical model and kinematics equation of the manipulator had been established. The 3D digital model had been designed by Pro/E5.0 software. The pick up arm finite element analysis pretreatment had been finished by UG software and the calculation had been done by ANSYS software. Finally, the real device had been finished. It had the character of the compactness, sensitivity, safety, practicability and convenience, whitch had a good engineering application value and could be used in medical, mining and other fields.

关 键 词：五自由度 机械臂 放射源 研制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]