一种新颖的变载荷平衡机构设计及在多自由度机械臂上应用测试  

Design of a Novel Variable Load Balancing Mechanism and Testing of Its Application on a Multi-degree-of-freedom Robotic Arm

作　　者：崔可可 王强[2] CUI Keke;WANG Qiang(College of Mechanical and Electrical Information,Shangqiu University,Shangqiu Henan 476000,China;College of Mechanical Engineering,Taiyuan University of Technology,Taiyuan Shanxi 030024,China)

机构地区：[1]商丘学院机械与电气信息学院,河南商丘476000 [2]太原理工大学机械工程学院,山西太原030024

出　　处：《机床与液压》2025年第6期40-48,共9页Machine Tool & Hydraulics

摘　　要：针对机械装置运行中面临末端载荷不断变化的问题,提出一种可以有效缓解载荷效应对装置造成影响的变载荷平衡机构设计。该机构由齿轮组、拉伸弹簧、旋转连杆、曲柄等零件组成,可以在尾端载荷发生变化时保持机构整体平衡状态。通过理论计算对机构设计实现平衡原理进行分析;然后通过MSC Adams软件对平衡机构进行仿真模拟,并通过3D打印技术搭建原型样机,开展实验测试,证明机构设计的可行性与实现功能的有效性;最后将该机构搭载在一款多自由度机械臂上,通过一系列取放操作,使机械臂末端峰值扭矩降低约90%,在改善机械臂平衡能力的同时,证明了该平衡机构可以有效缓解机械装置末端载荷效应对装置的不良影响。Aiming at the problem of changing end load in the operation of mechanical device,a design of variable load balancing mechanism was proposed to effectively alleviate the impact of load effect on the device.The mechanism consisted of gear sets,tension springs,rotating connecting rods,cranks and other parts,which could maintain the overall balance of the mechanism when tail end load changed.The balance principle of the mechanism design was analyzed through theoretical calculations;then the balance mechanism was simulated through MSC Adams software,and experimental tests were carried out on a prototype built by 3D printing technology,which could prove the feasibility of the mechanism design and the validity of the realized function;finally,the mechanism was mounted on a multi-degree-of-freedom robotic arm for application.Through a series of pick-and-place operations,the peak torque at the end of the robotic arm is reduced by 90%,which improves the balance ability of the robotic arm and at the same time proves that the balancing mechanism can effectively alleviate the adverse effects of the end load effect of the mechanical device.

关 键 词：变载荷平衡机构 末端载荷 MSC Adams软件 多自由度机械臂 

分 类 号：TH112[机械工程—机械设计及理论] TH703