基于串并混联的机械手运动数学模型建立与数值仿真  

Mathematical model establishment and numerical simulation of manipulator motion based on series-parallel hybrid connection

作　　者：陈燕 CHEN Yan(Hefei General Vocational and Technical College,Hefei 230031,Anhui,China)

机构地区：[1]合肥通用职业技术学院,安徽合肥230031

出　　处：《贵阳学院学报（自然科学版）》2023年第3期95-100,共6页Journal of Guiyang University：Natural Sciences

摘　　要：冲压加工在机械加工中占据着重要作用,而机械手的好坏直接影响到冲压加工的效率。为提高其效率,研究设计了一款新型串并混联的冲压上下料机械手。对其的构型设计主要包括大臂、中臂、小臂,以及端拾器四部分。通过混联将其依次连接起来,并对机构的速度雅可比进行求解,建立相应的运动数学模型。仿真结果表明,机械手的工作空间在x,y,z三个方向上的移动空间距离为8000mm、400mm、300mm,完全满足机械手的转动需求。机械手的关节移动最大速度接近190mm/s,末端参考点最大速度为4100mm/s。其最大转速为0.36rad/s,转动关节的最大速度接近1.18rad/s,该机械手的运动学性能满足要求。本次研究的上下料机械手具有创新性、实用性及高效性。Stamping plays an important role in machining,and the quality of manipulator directly affects the efficiency of stamping processing.In order to improve its efficiency,a new type of tandem and hybrid stamping manipulator is designed.Its configuration design mainly includes four parts:big arm,middle arm,forearm,and end pickup.They are connected successively by hybrid linking,and the velocity Jacobian of the mechanism is solved,and the corresponding mathematical model of motion is established.The simulation results show that the moving space distance of the manipulator's working space in x,y and z directions is 8000mm,400mm and 300mm,which can fully meet the rotation requirements of the manipulator.The maximum speed of joint movement of the manipulator is close to 190mm/s,and the maximum speed of the end reference point is 4100mm/s.Its maximum rotational speed is 0.36 rad/s,the maximum rotational joint speed is close to 1.18 rad/s,the kinematic performance of the manipulator meets the requirements.The loading and unloading manipulator is innovative,practical and efficient.

关 键 词：机械手 串并混联 运动数学建模 数值仿真 工作空间 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]