摘要
综合运用机、电、气等技术设计一种执行机械手,以串联式凸轮连杆组合机构代替凸轮机构作为驱动机构,在不增大机构尺寸的前提下实现机械手的大摆角摆动.根据机械手应满足的运动位置参数,首先设计出四杆机构,选取凸轮运动规律设计凸轮机构,应用Pro/E和运动学分析软件ADAMS联合建立机构的虚拟样机,对机构进行仿真分析,获得凸轮从动件角速度及角加速度曲线,并通过分析仿真曲线选取最佳运动规律,使设计的机械手简单紧凑、运动平稳、可靠性高.这种设计方法也为其他运动机构的设计提供了有益的借鉴.
A new manipulator, integrated mechanical, electronic, pneumatic component, driven by the series-wound cam-linkage mechanism, instead of cam mechanism is presented. The swing angle of the manipulator can be enlarged without increasing the size of the mechanism. Based on the movement location parameter, the planar 4-bar mechanism is designed. The cam is built with the selected cam movement rule. The virtual prototype of automatic pieces manipulator is established with Pro/E and kinematics analysis software ADAMS. On the basis of kinematics characteristic of the mechanism upon the simulation of the automatic pieces manipulator, the angular velocity curve and angular acceleration curve are obtained. In analyzing the curve, the optimal rule is adopted. Thus the manipulator is simple, stable and reliable. It lays a principle basis for the study of the other manipulator of automatic piecing device.
出处
《东华大学学报（自然科学版）》
CAS
CSCD
北大核心
2009年第6期716-720,736,共6页
Journal of Donghua University(Natural Science)
基金
浙江省重大科技专项资助项目(2006C11051-2)
关键词
串联式凸轮连杆组合机构
运动学分析
虚拟样机
仿真分析
series-wound cam-linkage mechanism
kinematics analysis
virtual prototype
simulation analysis
