变速箱轴系插装机械手运动学分析与仿真  

Kinematic Analysis and Simulation of Cartridge Manipulator for Gearbox Shafting

作　　者：霍平 徐阳阳 梁宝 Huo Pin;Xu Yangyang;Liang Bao(School of Mechanical Engineering,North China University of Science and Technology,Tangshan 063210,China;Hebei Institute of Robot Industry Technology,Tangshan 063210,China)

机构地区：[1]华北理工大学机械工程学院,河北唐山063210 [2]河北省工业机器人产业技术研究院,河北唐山063210

出　　处：《煤矿机械》2021年第8期84-86,共3页Coal Mine Machinery

摘　　要：为了解决在操作过程中因磕碰使壳体零件受到损坏、工作效率低、作业人员环境恶劣等问题,设计开发一种变速箱轴系插装机械手结构。使用改进D-H法建立坐标系和运动学方程,通过MATLAB软件中的Robotics Toolbox对变速箱轴系插装机械手的运动学模型进行仿真,验证仿真分析计算结果与实际运动情况完全符合,证明其变速箱轴系插装手运动学模型的正确性,验证了机械手本体结构的合理性,为机械手进一步研发提供参考。In order to solve the problems that the shell parts are damaged due to bumps during operation, the work efficiency is low, and the operator′s environment is harsh, a gearbox shafting plugin manipulator structure was designed and developed. Used the improved D-H parameter method to establish the manipulator coordinate system, derive the kinematic equations, and use the MATLAB Robotics Toolbox to simulate the manipulator′ s kinematic model and carry out a case simulation to verify that the simulation analysis calculation results are in full agreement with the actual motion, and prove that the gearbox shafting the correctness of the kinematics model of the cartridge hand verifies the rationality of the manipulator body structure and provides a reference for the further development of the manipulator.

关 键 词：变速箱轴系 插装机械手 MATLAB 运动学模型 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]