轮胎上下料机械手的设计及其动力学特性分析  

Design and Dynamic Analysis of Gripper for Loading and Unloading Tyres

作　　者：杨森[1] 沈惠平[1] 强恒存 邓嘉鸣[1] 刘金石 张有斌 

机构地区：[1]常州大学机械工程学院,江苏常州213164 [2]金石机器人(常州)有限公司,江苏常州213164

出　　处：《常州大学学报（自然科学版）》2018年第1期61-69,共9页Journal of Changzhou University：Natural Science Edition

基　　金：江苏省科技成果转化专项资金项(BA2015098)

摘　　要：为了提高桁架机器人传送轮胎的效率和通用性,提出了一种可以抓取内径为304.8mm和内径为609.6mm的2种规格轮胎的机械手。通过分析轮胎的结构、放置形式以及上下料轮胎数量,运用Solidworks构建了轮胎上下料机械手的虚拟样机。并结合ANSYS仿真软件和实验,验证了机械手的动力学特性。结果表明,该机械手可以抓取7个内径为304.8mm的轮胎和4个内径为609.6mm的轮胎,并能准确完成轮胎上下料过程。In order to improve the efficiency and generality of truss robot delivering tyres,agripper is proposed to grab two sizes of tyres,whose internal diameter are 304.8 mm and 609.6 mm.Through the analysis of the structure of the tyre,the form of placement and the number of the loading and unloading tyres,the virtual prototype of the gripper is designed by the software of Solidworks.The dynamic characteristics of the gripper are confirmed by the software of ANSYS and the experiments.The result shows that the gripper can grab 7 tyres whose internal diameter is 304.8 mm and 4 tyres whose internal diameter is 609.6 mm,and it can complete the process of loading and unloading tyres accurately.

关 键 词：轮胎 机械手 模块化设计 虚拟样机 动力学特性 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]