水泥灌料自动插袋机械手运动学分析与仿真  

Kinematics Analysis and Simulation of Cement Filling Automatic Bag Inserting Manipulators

作　　者：周崇杰 孙远韬[1] Zhou Chongjie;Sun Yuantao(College of Mechanical Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]同济大学机械与能源工程学院,上海201804

出　　处：《机械传动》2023年第10期148-154,共7页Journal of Mechanical Transmission

摘　　要：为替代工人进行水泥灌料时的插袋作业,并解决出现的袋体破损或遗漏、生产效率低下、作业环境恶劣等问题,设计开发了一种水泥灌料自动插袋机械手。在介绍插袋机械手工作原理和结构功能的基础上,使用D-H法建立其机械结构的运动学方程,推导了机械手的运动曲线,分析了其与水泥包装机料口运动轨迹的组合关系;通过Matlab软件中的Robotics Toolbox工具包对机械手的运动学模型进行仿真与分析,验证了理论分析结果的正确性;最后,通过试验设计(Design Of Experiment,DOE)验证实验表明,水泥灌料自动插袋机械手能够精准实现袋体的抓取及插袋作业。验证了其本体结构的合理性,解决了现有插袋设备的局限性和低精度等问题。In order to replace workers in the bag inserting operation during cement pouring,and solve the problems of bag damage or omission,low production efficiency,poor working environment and so on,an automat⁃ic bag inserting manipulator for cement pouring is designed and developed.Based on the introduction of the working principle and structural function of the bag inserting manipulator,this study uses the D-H method to es⁃tablish the kinematics equation of its mechanical structure,deduces the motion curve of the manipulator,further analyzes the combination relationship between the manipulator and the trajectory of the feed opening of the ce⁃ment packaging machine,and then simulates and analyzes the kinematics model of the manipulator through the Robotics Toolbox in Matlab software to verify the correctness of the theoretical analysis results.Finally,the de⁃sign of experiment(DOE)verification experiment shows that the cement filling automatic bag inserting manipula⁃tor can accurately grasp the bag body and insert bags,which verifies the rationality of its body structure and con⁃flicts with the limitations and low accuracy of the existing bag inserting equipment.

关 键 词：插袋机械手 D-H法 MATLAB 运动学分析及仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TQ172.6[自动化与计算机技术—控制科学与工程]