新型集装箱板材上下料机械手动力学建模与仿真  

Dynamic Modeling and Simulation of a New Type of Container Sheet Loading and Unloading Manipulator

作　　者：王晓磊[1] 王永钊 刘祥 WANG Xiao-lei;WANG Yong-zhao;LIU Xiang(College of Mechanical Engineer and Automation,Liaoning University of Technology,Liaoning Jinzhou 121001,China)

机构地区：[1]辽宁工业大学机械工程与自动化学院,辽宁锦州121001

出　　处：《机械设计与制造》2021年第9期231-235,共5页Machinery Design & Manufacture

基　　金：辽宁省高等学校科学技术研究项目(JL201615402)。

摘　　要：为提高集装箱折弯板材上下料的效率,提出一种新型上下料机械手。该机械手采用2-P(Pa)并联机构与抓取机构相结合的结构,实现了折弯工序对板材的快速搬运。文中介绍了集装箱角柱折弯的加工工艺与新型机械手的结构组成,建立了并联机构的位置方程,利用解析法推导出了并联机构的位置正反解、末端执行机构的速度与加速度方程,为动力学分析奠定基础。利用拉格朗日方程建立了机械手的动力学方程并进行了实例仿真验证。验证结果表明:理论驱动力值与仿真驱动力值误差较小,说明所建立的机构运动学模型及动力学模型的正确性,为机械手后续的动载分配优化及系统控制提供了理论指导。In order to improve the efficiency of loading and unloading of container bending plates,a new type of handling robot is proposed.The robot adopts the structure of the 2-P(Pa)parallel mechanism and the grasping mechanism to realize the rapid handling of the plate in the bending process.The processing technology of container corner post bending and the structure of the new manipulator are introduced in the paper.The position equation of the parallel mechanism is established.The positive and negative solutions of the parallel mechanism and the velocity and acceleration equations of the end effect mechanism are derived by numerical method,which lays the foundation for the next dynamic analysis.The dynamic equation of the manipulator is established by Lagrangian equation and verified by simulation.The verification results show that the error between the theoretical driving force value and the simulation driving force value is small,which indicates the correctness of the kinematics model and dynamic model of the mechanism.The dynamic model of the mechanism provides theoretical guidance for the subsequent dynamic load distribution optimization and system control of the robot.

关 键 词：上下料机械手 并联机构 运动学分析 动力学方程 仿真验证 

分 类 号：TH16[机械工程—机械制造及自动化] TH112