具有双重被动柔顺特征的撑套式装配机械手构形设计与特性研究  

Configuration Design and Characteristics Research of a Inner Braced and Nested Assembly Manipulator with Dual Passive Compliance Characteristics

作　　者：王良文 解宏昌 王壮 司亮 杜文辽 谢贵重 WANG Liangwen;XIE Hongchang;WANG Zhuang;SI Liang;DU Wenliao;XIE Guizhong(Henan Province Complex Machinery Equipment Intelligent Monitoring and Control International Joint Laboratory,School of Mechanical and Electrical Engineering,Zhengzhou University of Light Industry,Zhengzhou 450001,China;Zhongyuan Critical Metals Laboratory,School of Material Science and Engineering,Zhengzhou University,Zhengzhou 450001,China)

机构地区：[1]郑州轻工业大学机电工程学院河南省复杂机械装备智能监测与控制国际联合实验室,河南郑州450002 [2]郑州大学材料科学与工程学院中原关键金属实验室,河南郑州450001

出　　处：《机器人》2024年第1期105-117,共13页Robot

基　　金：国家自然科学基金(52075500,52275138,52304301);河南省科技攻关计划(232102221033)。

摘　　要：利用机械手抓取与装配薄壁易碎件时,受作业对象的形貌误差等影响,易碎件容易破裂。针对此类问题,提出了一种可实现双重被动柔顺构形的撑套式装配机械手。首先,介绍了机械手抓取用于合成金刚石的易碎原料环的作业过程,分析了在装配过程中可能出现的误差情况,提出了设计双重被动柔顺机械手结构的准则,并对机械手的关键部件——柔顺环——的设计过程进行了介绍。其次,为了研究该机械手在工作中的响应情况,构建了机械手的3维模型,并导入ADAMS软件中进行仿真分析,获得了装配过程中工件的应力及柔顺环的受力及形变。仿真结果表明,当薄壁易碎件与待装配凸模之间存在位姿偏差时,所设计的机械手结构可以通过自适应形变调整其抓取工件时的位姿,并顺利完成装配。最后,设计制作了相应的机械手实验样机进行实际装配实验,证明了研究结果的正确性。An inner braced and nested assembly manipulator configuration which can realize dual passive compliance is proposed in order to solve the problems that fragile workpieces are prone to break,when the manipulator is used to grasp and assemble thin-walled fragile workpieces,because of appearance inaccuracies of the workpieces.Firstly,the operating procedure for the manipulator gripping thin-walled fragile raw material ring for diamond synthesis is described,and potential assembly process faults are analyzed,and some standards are put forward for designing the structure of dual passive compliant manipulator.The design processes for key compliant ring of the manipulator are described.Secondly,a three-dimensional model of the manipulator is created and imported in ADAMS for simulation analysis in order to study the response of the manipulator,and the stresses on the workpiece as well as the force and deformation of the compliant ring during assembly are acquired.The simulation results demonstrate that the designed manipulator structure can adjust its position and posture for grasping the workpiece through adaptive deformation,to successfully finish the assembly even when there are position and posture deviations between the thin-walled fragile workpiece and the punch to be assembled.Finally,the correctness of the research results is proved by designing and manufacturing the corresponding manipulator prototype to carry out the actual assembly experiment.

关 键 词：撑套式装配机械手 薄壁易碎件 双重被动柔顺 机械手构形 位姿偏差下的装配 

分 类 号：TH122[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]