行列式制瓶机钳瓶机械手机构组成及运动学分析  

The structure design of the moving manipulator and kinematics analysis of glass bottle for I.S.machine

作　　者：张宇[1] 侯荣国[1] 陈雪松 王好臣[1] 杨鹏 ZHANG Yu;HOU Rongguo;CHEN Xuesong;WANG Haochen;YANG Peng(School of Mechanical Engineering,Shandong University of Technology,Zibo 255049,China;Shandong Jiafeng Glass Machinery Company Limited,Zibo 255318,China)

机构地区：[1]山东理工大学机械工程学院,山东淄博255049 [2]山东嘉丰玻璃有限责任公司,山东淄博255318

出　　处：《山东理工大学学报（自然科学版）》2020年第5期7-10,共4页Journal of Shandong University of Technology:Natural Science Edition

基　　金：淄博市校城融合发展计划项目(2016ZBXC128)。

摘　　要：为提高移瓶速度、提升工作效率,设计了行列式制瓶机钳瓶机械手机构并对其进行了运动学分析。在SoildWorks环境下建立钳瓶机械手机构三维模型,对机构各关节组成部分进行分析;通过等距原则进行插值点规划,对钳瓶机械手机构各关节运动(位置)进行控制;在Adams环境下以大臂运动演变为例,分析其运动变化趋势。结果表明:该行列式制瓶机钳瓶机械手机构能提高移瓶工作效率,保证工作的平稳性和可靠性。In order to improve the bottle moving speed and work efficiency,the bottle clamping manipulator mechanism of the determinant bottle making machine is designed and its component and kinematic analysis are studied.A three-dimensional model of bottle gripper mechanism is established to analyze the components of each joint of the mechanism in the environment of SolidWorks.The motion(position)of each joint of bottle gripper mechanism is controlled by interpolation point planning based on the principle of equidistance.The movement evolution of the big arm is taken as an example to analyze the movement trend in the environment of Adams.The results show that the mechanism improves the efficiency of bottle moving,and ensures the stability and reliability of the work.

关 键 词：行列式制瓶机 钳瓶机械手机构 运动学分析 大臂运动 

分 类 号：TB532.1[理学—物理]