基于并联机构的抓书机械手设计与分析  

Design and Analysis of Book Grabbing Manipulator Based on Parallel Mechanism

作　　者：李宏峰 陈礼杰 牛誉洁 谈志鹏 LI Hong-feng;CHEN Li-jie;NIU Yu-jie;TAN Zhi-peng(School of Mechanical and Electrical Engineering,Beijing Institute of Graphic Communication,Beijing 102600,China;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300400,China)

机构地区：[1]北京印刷学院机电工程学院,北京102600 [2]河北工业大学机械工程学院,天津300400

出　　处：《印刷与数字媒体技术研究》2024年第2期92-100,共9页Printing and Digital Media Technology Study

基　　金：北京印刷学院学院校级教学改革(创新重点)项目(No.20240027)。

摘　　要：为满足智慧图书馆存、取书的需求,本研究设计了一款专用于智慧图书馆的抓书机械手。根据实际抓书工况的需求,基于Soildworks软件设计出一款末端执行器,并对末端执行器进行有限元分析。对并联机构建立笛卡尔坐标系,最后基于蒙特卡洛法对工作空间进行仿真验证。本研究最终将设计所得的末端执行器与并联机构相结合,得到一款能够快速、稳定抓取书本的机械手。根据仿真结果可知,所设计的抓书机械手可达到实际工况要求。In order to meet the needs of the smart library for storing and retrieving books,a book grabbing manipulator dedicated to the smart library was designed.In this study,an end effector was designed based on Soildworks software according to the requirements of the actual book grasping condition,and the end effector was analyzed with finite element analysis.The Cartesian coordinate system was established for the parallel mechanism,and the kinematic analysis was carried out,and the workspace was simulated and verified based on Monte Carlo method.Finally,the designed end effector was combined with a parallel mechanism to obtain a manipulator that can grasp books quickly and stably.According to the simulation results,it can be seen that the designed book grabbing manipulator can meet the requirements of actual working conditions.

关 键 词：并联机构 末端执行器 有限元分析 运动学分析 

分 类 号：G258.94[文化科学—图书馆学] TP242[自动化与计算机技术—检测技术与自动化装置]