废旧锂离子电池搬运机器人末端执行器设计  

Design of the End-effector of Waste Lithium-ion Battery Handling Robots

作　　者：张洪生[1] 邓泽 Zhang Hongsheng;Deng Ze(School of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050,China)

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《机械传动》2024年第3期93-101,共9页Journal of Mechanical Transmission

摘　　要：为了解决废旧锂离子电池回收问题,针对回收过程中的分拣步骤,设计了一种可以承载电池质量并适应不同尺寸的机器人末端执行器。介绍了末端执行器各个机构,并针对肘杆六杆机构进行了进一步校核,建立了六杆机构的运动学模型;使用遗传-BFGS(Genetic Algorithm-BFGS,GABFGS)拟牛顿法和粒子群-BFGS(Particle Swarm Optimization-BFGS,PSO-BFGS)拟牛顿法对六杆机构的杆长及位置参数进行优化,建立了六杆机构的动力学模型,计算并仿真校核了空载所需的驱动力,以及极限条件下搬运过程的径向力。研究提供了一种六杆传动机构的新思路,可为废旧锂离子电池分拣设备的研发提供参考。In order to solve the problem of waste lithium-ion battery recycling,a robot end-effector is de⁃signed to carry the battery weight and adapt to different sizes in the process of sorting.In this study,each mecha⁃nism of the end-effector is introduced.The kinematic model of the six-bar mechanism is established by further checking the toe-bar six-bar mechanism.The rod length and position parameters of six-bar mechanism are opti⁃mized by genetic algorithm-BFGS(GA-BFGS)quasi-Newton method and particle swarm optimization-BFGS(PSO-BFGS)quasi-Newton method,and the dynamics model of the six-bar mechanism is established.The driv⁃ing force required by no load and the radial force in the handling process under the limit condition are calculat⁃ed and simulated.This study provides a new idea of the six-bar drive mechanism,and provides reference for the research and development of the waste lithium-ion battery sorting equipment.

关 键 词：末端执行器 六杆机构 拟牛顿法 动力学仿真 

分 类 号：X705[环境科学与工程—环境工程] TP242[自动化与计算机技术—检测技术与自动化装置]