真空手套箱机械臂ADAMS动力学分析  

ADAMS Dynamic Analysis of Vacuum Glove Box Robotic Arm

作　　者：许博皓 孔祥宇 钱英军[1] 施展 申昊 Xu Bohao;Kong Xiangyu;Qian Yingjun;Shi Zhan;Shen Hao(Guangdong Polytechnic of Science and Trade,Guangzhou 510430,China;School of Mechanical Engineering,Dalian Jiaotong University,Dalian,Liaoning 116028,China;Changzhou Railway Higher Vocational Technical School,Changzhou,Jiangsu 213011,China)

机构地区：[1]广东科贸职业学院,广州510430 [2]大连交通大学机械工程学院,辽宁大连116028 [3]常州铁道高等职业技术学校,江苏常州213011

出　　处：《机电工程技术》2024年第7期195-200,共6页Mechanical & Electrical Engineering Technology

基　　金：广东省教育厅项目(2022KQNCX195);广州市科学技术局项目(SL2023A04J01572,2023A04J1716e);广东科贸职业学院项目(GDKM2022-86,GDKM2022-121)。

摘　　要：手套箱是广泛应用于各种场合的实验室设备,通过高纯度惰性气体填充箱体并过滤挥发性物质来保护实验正常进行。传统人工操作手套箱在使用上存在操作繁复、人手可达空间有限和易受污染等问题,也是手套箱发展过程中亟需解决的难题。提出一种设计机器人化操作手套箱的方案,在手套箱小型空间内设计一款可操作的机械臂,满足密闭空间内对实验用品归类、液体分配、反应搅拌和样品处理等一系列操作,以实现手套箱前置操作自动化并提高使用效率。首先对机械臂和驱动电机进行选型,通过ADAMS建立虚拟样机,利用MATLAB与ADAMS联合仿真进行关键轨迹设计,得出的结果证明手套箱内机械臂运行轨迹的合理性。然后进行机械臂动力学分析,得出的结果验证了机械臂和电机选型的合理性。Glove boxes are widely used laboratory equipment in various situations,which are filled with high-purity inert gas and filtered for volatile substances to protect the normal operation of experiments.The traditional manual operation of glove boxes has problems such as complex operation,limited space for human hands to reach,and susceptibility to pollution,which are also urgent problems to be solved in the development process of glove boxes.A scheme for designing a robotic operation glove box is proposed,which involves designing an operable robotic arm in a small space of the glove box to meet a series of operations such as classification of experimental supplies,liquid distribution,reaction stirring,and sample processing in a closed space,in order to achieve automation of glove box front operation and improve usage efficiency.Firstly,the type of robotic arm and driving motor,a virtual prototype is established through ADAMS,and MATLAB and ADAMS joint simulation are used to design the key trajectory.The results prove the rationality of the operating trajectory of the robotic arm in the glove box.Then,a dynamic analysis of the robotic arm is conducted,and the results verify the rationality of the selection of the robotic arm and motor.

关 键 词：手套箱 四自由度机械臂 运动学 ADAMS仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]