基于抓取圆柱形棒料的多关节型机械手结构研究  

Research on the Structure of Multi-joint Manipulator Based on Grabbing Cylindrical Bar Stock

作　　者：曾祥[1] 孙宁[1] 谭伟超 Zeng Xiang;Sun Ning;Tan Weichao

机构地区：[1]江门职业技术学院,广东江门529090

出　　处：《时代汽车》2024年第23期142-144,共3页Auto Time

摘　　要：针对装配车间中传统人工抓取与搬运圆柱形棒料所面临的效率低下、劳动强度大、易出错等问题,本研究设计了一种专门用于抓取圆柱形棒料的多关节型机械手装置。该装置实现了圆柱形棒料的自动化搬运与精准抓取,显著提升了工作效率,并有效降低了搬运成本。装置采用减速电机与谐波减速器的传动方式,确保机械手的运动平稳且精准。对机械手的夹紧装置、手臂抓取装置、腕部结构及手爪进行了详尽的设计与优化,使机械手结构紧凑、轻巧且高效。最后,利用SolidWorks进行了建模仿真与整体装配设计,验证了各部件之间的配合与运动关系,确保了机械手在实际应用中的可靠性和稳定性。In order to solve the problems of low efficiency,high labor intensity and easy error faced by traditional manual grabbing and handling of cylindrical bars in the assembly workshop,a multi-joint manipulator device specially designed for grabbing cylindrical bars was designed in this study.The device realizes the automatic handling and precise grasping of cylindrical bars,which significantly improves the work efficiency and effectively reduces the handling cost.The device adopts the transmission mode of geared motor and harmonic reducer to ensure the smooth and accurate movement of the manipulator.The clamping device,arm gripping device,wrist structure and claw of the manipulator have been designed and optimized in detail,making the manipulator compact,lightweight and efficient.Finally,SolidWorks was used to carry out modeling simulation and overall assembly design,which verified the fit and motion relationship between each component,and ensured the reliability and stability of the manipulator in practical applications.

关 键 词：多关节机械手 自动化抓取 SOLIDWORKS 建模仿真 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]