多尺寸纱筒柔性落纱机械手设计及其优化  

Design and optimization of flexible doffing manipulator for multi size bobbin

作　　者：张凡 管声启[1] ZHANG Fan;GUAN Shengqi(College of Mechanical Electronic Engineering,Xi'an Polytechnic University,Xi'an,Shaanxi 710048,China)

机构地区：[1]西安工程大学机电工程学院,陕西西安710048

出　　处：《毛纺科技》2021年第1期71-76,共6页Wool Textile Journal

基　　金：陕西省重点研发计划项目(2018GY-020)。

摘　　要：为实现混色纱线拼接过程中多尺寸纱筒的柔性抓取及落纱任务,提出一种仿生学自适应性机械手设计优化方法。首先,分析落纱过程人体手指的抓取姿态,以此建立仿生学机械手多指节结构模型。在此基础上,以多尺寸短向量标准建立三维粒子群模型,以MatLab对机械手结构参数进行抓取优化。最后,在有限元软件中进行虚拟样机装配及动力学仿真对比验证。实验结果表明:设计的新型机械手可平稳实现30~80mm多尺寸柔性自动落纱。In order to realize the task of flexible grasping and doffing of multi-dimensional bobbins in the process of multi-color yarn splicing,a bionics adaptive manipulator design optimization method was proposed.Firstly,the grasping posture of human fingers in doffing process was analyzed,and the multi knuckle structure model of bionic manipulator was established.On this basis,a three-dimensional particle swarm optimization(PSO)model was established based on multi-dimensional short vector standard,and the structure parameters of manipulator were optimized by MatLab.Finally,the virtual prototype assembly and dynamic simulation were compared and verified in the finite element software.The experimental results show that the new manipulator can smoothly realize 30-80 mm multi size flexible automatic doffing.

关 键 词：自动落纱机械手 粒子群模型 参数优化 绳轮驱动 柔性抓取 

分 类 号：TS103.[轻工技术与工程—纺织工程]