【摘要】：為了提高夾持機(jī)構(gòu)的設(shè)計(jì)效率和精度,提出了一種新的采摘機(jī)器人通用夾持機(jī)構(gòu)的同步設(shè)計(jì)優(yōu)化方法,將UG和ADMAS軟件引入到了夾持機(jī)構(gòu)的設(shè)計(jì)過程中,并利用軟件的聯(lián)合虛擬仿真功能,實(shí)現(xiàn)了夾持機(jī)構(gòu)的合理布局和夾緊力的計(jì)算與同步優(yōu)化。利用夾持機(jī)構(gòu)的加工工序,在UG軟件中對夾持機(jī)構(gòu)進(jìn)行了布局,并通過運(yùn)動約束的添加使夾持機(jī)構(gòu)處于完全打開狀態(tài)。將UG夾持機(jī)構(gòu)模型導(dǎo)入到ADMAS軟件中進(jìn)行了動力學(xué)仿真,通過計(jì)算得到了影響彈簧夾緊力關(guān)鍵點(diǎn)變量的敏感度,取對彈簧夾緊力影響較大的點(diǎn)進(jìn)行了優(yōu)化,得到了彈簧產(chǎn)生最大夾緊力時變量點(diǎn)的彈簧位移,從而實(shí)現(xiàn)了夾持機(jī)構(gòu)的優(yōu)化設(shè)計(jì)。最后,對夾持機(jī)構(gòu)的運(yùn)動性能進(jìn)行了仿真計(jì)算,為夾持機(jī)構(gòu)的穩(wěn)定性設(shè)計(jì)提供了理論依據(jù)。
[Abstract]:In order to improve the design efficiency and precision of the clamping mechanism, a new synchronous design optimization method for the universal clamping mechanism of picking robot is proposed. The software of UG and ADMAS is introduced into the design process of the clamping mechanism. Using the joint virtual simulation function of the software, the reasonable layout of the clamping mechanism and the calculation and synchronous optimization of the clamping force are realized. By using the processing procedure of the clamping mechanism, the clamping mechanism is laid out in the UG software, and the clamping mechanism is completely opened by the addition of the motion constraints. The model of UG clamping mechanism is imported into ADMAS software and the dynamic simulation is carried out. The sensitivity of key variables affecting the clamping force of spring is obtained by calculation, and the points which have great influence on the clamping force of spring are optimized. The spring displacement of the variable point when the maximum clamping force is generated is obtained, and the optimal design of the clamping mechanism is realized. Finally, the motion performance of the clamping mechanism is simulated and calculated, which provides a theoretical basis for the stability design of the clamping mechanism.
【作者單位】： 廣州鐵路職業(yè)技術(shù)學(xué)院;
【基金】：廣東省高等職業(yè)教育教學(xué)改革項(xiàng)目(201401196)
【分類號】：S225.92;TP242

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