本文關(guān)鍵詞： 機(jī)械手 擦坯 往復(fù)運(yùn)動(dòng) 運(yùn)動(dòng)仿真　出處：《機(jī)械設(shè)計(jì)與制造》2017年02期 　論文類(lèi)型：期刊論文

【摘要】：結(jié)合現(xiàn)有機(jī)器人打磨技術(shù)及生產(chǎn)實(shí)際,設(shè)計(jì)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(dòng)作的機(jī)械手機(jī)構(gòu),該機(jī)械手安裝在多自由度關(guān)節(jié)機(jī)器臂的末端;對(duì)機(jī)械手的機(jī)構(gòu)進(jìn)行了理論分析及實(shí)驗(yàn)論證;運(yùn)用MATLAB軟件對(duì)機(jī)械手指的數(shù)學(xué)模型進(jìn)行了數(shù)據(jù)處理;利用Solidwords軟件建立了機(jī)械手的三維模型,并應(yīng)用motion插件對(duì)機(jī)械手的三維模型進(jìn)行了運(yùn)動(dòng)仿真,獲得了擦坯機(jī)械手的運(yùn)動(dòng)、速度、加速度-時(shí)間曲線圖,通過(guò)對(duì)仿真數(shù)據(jù)的分析,驗(yàn)證了設(shè)計(jì)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(jī)械工程學(xué)院;
【分類(lèi)號(hào)】：TQ174.769;TP241
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本文編號(hào)：1545296