基于ADAMS新型钢管打捆机械手的优化设计  

Optimization design of a new type of steel tube binding manipulator based on ADAMS

作　　者：李震 柴晓艳[1,2] LI Zhen;CHAI Xiao-yan(Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Techonogy,Tianjin 30084.China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点研究实验室,天津300384 [2]机电工程国家级实验教学示范中心(天津理工大学),天津300384

出　　处：《重型机械》2019年第1期61-65,共5页Heavy Machinery

基　　金：2017年天津市"一带一路"国家科技合作示范项目(S17YG7009)

摘　　要：新型钢管打捆机械手的应用保证了生产作业的安全性,并将废旧钢管裁剪成条状钢带用以钢管包的打捆,节约了成本,但初步设计后的打捆机械手运行时间较长,实际生产中打捆效率较差,针对上述问题,本文通过在ADAMS软件中建立的新型钢管打捆机械手模型,对其打捆时间进行优化。首先对机械手模型各关节变量进行参数化,其次建立左右两侧机械臂同步运动关系以及各关节转角函数,并对其驱动函数以及优化所需的运行时间函数进行数学建模,然后利用ADAMS中的设计计算模块对机械手优化参数进行敏感度分析并确定其取值范围,最终完成对新型钢管打捆机械手的优化设计。The application of the new steel tube binding manipulator ensures the safety of the production,and the scrap steel tube is cut into strip steel strip to be used for bundling steel tube.Although it saves the cost,yet it operates is longer and poor efficiency.In order to solve the problems of the initially designed binding manipulator,this paper optimizes the binding time of a new steel tube binding manipulator model based on Adams software.Firstly,the model joint variables are parameterized.Secondly,the synchronous motion relation of the left and right sides manipulator and the joints rotation function are established,and the driving function and the running time function required for optimization are modeled mathematically.Then the sensitivity of optimization parameters is analyzed to determine the value range by the design and calculation module of ADAMS.Finally,the new steel tube binding manipulator is optimal designed.

关 键 词：钢管打捆机械手 参数化设计变量 数学建模 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]