本文關(guān)鍵詞： 機械手 擦坯 往復(fù)運動 運動仿真　出處：《機械設(shè)計與制造》2017年02期 　論文類型：期刊論文

【摘要】：結(jié)合現(xiàn)有機器人打磨技術(shù)及生產(chǎn)實際,設(shè)計出區(qū)別于傳統(tǒng)利用"旋轉(zhuǎn)"式打磨方式,模仿人工"往復(fù)直線"式打磨動作的機械手機構(gòu),該機械手安裝在多自由度關(guān)節(jié)機器臂的末端;對機械手的機構(gòu)進行了理論分析及實驗論證;運用MATLAB軟件對機械手指的數(shù)學(xué)模型進行了數(shù)據(jù)處理;利用Solidwords軟件建立了機械手的三維模型,并應(yīng)用motion插件對機械手的三維模型進行了運動仿真,獲得了擦坯機械手的運動、速度、加速度-時間曲線圖,通過對仿真數(shù)據(jù)的分析,驗證了設(shè)計的可行性。
[Abstract]:Combined with the existing robot grinding technology and production practice, a manipulator mechanism is designed, which is different from the traditional "rotary" grinding mode and simulates the manual "reciprocating straight line" grinding action. The manipulator is installed at the end of the multi-degree-of-freedom joint robot arm, the mechanism of the manipulator is theoretically analyzed and experimentally demonstrated, and the mathematical model of the mechanical finger is processed with MATLAB software. The three-dimensional model of manipulator is established by using Solidwords software, and the motion simulation of the manipulator is carried out by using motion plug-in. The curves of motion, velocity, acceleration and time of the manipulator are obtained, and the simulation data are analyzed. The feasibility of the design is verified.
【作者單位】： 華北理工大學(xué)機械工程學(xué)院;
【分類號】：TQ174.769;TP241
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本文編號：1545296