火车车轮抓取搬运机械手电机选型及动力学仿真  

Motor Selection and Dynamic Simulation of Train Wheel Grasping and Carrying Manipulator

作　　者：尚钱 王全先[1,2] 胡秀勇 乔中一 SHANG Qian;WANG Quan-xian;HU Xiu-yong;QIAO Zhong-yi(School of Mechanical Engineering,Anhui University of Technology,Ma'anshan 243002,Anhui,China;Anhui Province Key Laboratory of Special Heavy Load Robot,Ma'anshan 243032,Anhui,China)

机构地区：[1]安徽工业大学机械工程学院,安徽马鞍山243002 [2]特种重载机器人安徽省重点实验室,安徽马鞍山243032

出　　处：《机械研究与应用》2023年第5期12-14,19,共4页Mechanical Research & Application

摘　　要：根据高速重载的特点,提出了一种火车车轮抓取搬运机械手设计分析方案,并对其整个车架纵移运行(纵移X轴)、垂直方向的运动(升降Z轴)进行电机选型。采用Creo 4.0软件对其进行三维建模,然后导入到ADAMS软件中对纵移机构和升降机构进行动力学仿真,测量出了驱动扭矩。仿真结果表明,考虑运行惯性情况下所需扭矩小于所选电机的最大扭矩,电机选型合适。According to the characteristics of high speed and heavy load,a design and analysis scheme for train wheel grasping and handling manipulator is proposed,and the motor selection is carried out for the whole frame longitudinal movement(longitudinal X axis)and vertical movement(lifting Z axis).Creo4.0 software is used for 3D modeling,and then it is imported into ADAMS software to simulate the dynamics of the longitudinal and lifting mechanism,and the driving torque is measured.The simulation results show that considering the running inertia,the required torque is less than the maximum torque of the selected motor,and the motor selection is suitable.

关 键 词：搬运机械手 电机选型 动力学 扭矩校核 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]