平行四杆机构搬运机器人的设计与分析  

Design and Analysis of a Parallel Four-Bar Mechanism Transport Robot

作　　者：郭北涛[1] 曲春硕 张丽秀[2] CUO Beitao;QU Chunshuo;ZHANG Lixiu(School of Mechanical and Power Engineering,Shenyang University of Chemical Technology,Shenyang 110142,China;School of Transportation and Mechanical Engineering,Shenyang Jianzhu University,Sheny-ang 110168,China)

机构地区：[1]沈阳化工大学机械与动力工程学院,沈阳110142 [2]沈阳建筑大学交通与机械工程学院,沈阳110168

出　　处：《组合机床与自动化加工技术》2024年第4期14-18,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51375317);沈阳市科技计划项目(F16-228-6-00)。

摘　　要：对物流搬运方式进行了研究,在分析了传统AGV特点后,提出了一种利用平行四杆机构实现前后双向抓取、摆放动作的搬运机器人。首先,从整体角度描述机器人的机电结构,研究主要部件如螺杆丝杠、平行连杆、蜗轮蜗杆等的设计与特性;基于力学原理建立了搬运机器人起重部件的静力学模型,以弹簧为关键零件,采用全局搜索算法对其优选,显著降低抬升所需的最大输出扭矩,在分析中得出最大扭矩,由此进行减速器的设计;最后,基于静力学模型的受力分析结果,利用有限元分析方法对杆件进行了模拟仿真,获得应力和变形的分布情况。实验表明,结果满足预期设计的性能指标要求,并为进一步优化提供支持。After analyzing the characteristics of the traditional AGV,this paper presents a kind of handling robot which uses the parallel four-bar mechanism to realize the bidirectional grabbing and placing.Firstly,the overall perspective of the robotic structure,which encompasses both mechanical and electrical elements.Further examination is undertaken on the blueprint and unique properties of principal components such as the threaded bolt,parallely aligned rods,helical gear,among others.Based on the mechanics principle,the static model of lifting parts of handling robot is established.With spring as the key part,the global search algorithm is used to optimize it,so as to reduce the maximum output torque required for lifting.The maxi-mum torque parameter is obtained in the analysis,and the worm gear reducer is designed according to it.Fi-nally,leveraging the results of the static models force appraisal,we employ finite element analysis methods to imitate the connecting rod's behavior,thereby determining the dispersion of strain and deformation.The empirical findings reveal that the outcomes align with the intended designs performance prerequisites,thus offering a foundation for subsequent refinement.

关 键 词：物流机器人 机械自动化 静力学分析 四杆机构 有限元分析 AGV 

分 类 号：TH161[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]