摘要
考虑抓取机械手工作于狭小圆形管道内与工作对象的分布特点两方面因素,管内异物抓取机械手采用三自由度关节型机械手的机构型式。以机械手的工作空间主截面最大与杆件长度尺寸之和最小为优化目标,建立了综合优化目标函数,得到机械手的结构参数优化解,为机械手的结构设计及运动学与动力学分析提供了基础参数。同时对所得优化结果做了进一步分析,为机械手的机构参数的修改与调整提供了可靠的理论依据。
By taking two factors that the grasping manipulator works in narrow and small round pipeline and the characteristics that the working object is distributed,the nubby object grasping manipulator in pipe adopts 3-DOF joint type manipulator as the mechanism mode.Taking maximizing main section of grasping manipulator＇s workspace and minimizing the sum of rod piece lengths as the optimization goal,a synthesis optimization objective function was established.Then,the optimized solution of mechanism param-eters for manipulator was obtained,providing basic parameters for structure design and analysis of the kinematics and dynamics.Fur-ther analysis on the obtained optimal result was also carried out,providing reliable theoretical basis for modifying and adjusting mechanism parameters of manipulator.
出处
《机械设计》
CSCD
北大核心
2010年第9期29-31,共3页
Journal of Machine Design
基金
教育部新世纪优秀人才计划资助项目(教技司[2007]209号)
北华大学校管基金资助项目(北华大学科合字(2008)第21号)
关键词
管道机器人
抓取机械手
机构参数
优化设计
in-pipe robot
grasping manipulator
mechanism parameter
optimized design
