摘要
本文基于数值优化方法,对一种柱状铸件通用机械手爪进行最优化设计,并根据优化设计的结构参数,设计了机械手爪的虚拟样机。为了验证该机械手爪结构参数的正确性,对机械手爪拾取不同尺寸工件的过程进行了运动仿真分析,仿真结果表明,采用数值优化方法获取的机械手爪结构参数能够满足其工作要求。最后根据优化的结构参数制作了机械手爪的样机,并完成了不同尺寸铸件的拾取试验,结果表明,在机械手爪的设计过程中,采用数值优化设计与运动仿真验证相结合的方法是行之有效的。
In this paper,the numerical optimization method is used to optimize the design of a universal manipulator gripper for cylindrical casting.According to the structural parameters of the optimal design,The virtual prototype of manipulator gripper is designed.In order to verify the correctness of the structure parameters of the manipulator gripper,the process of picking up different sizes of cylindrical workpiece is simulated.The simulation results show that the structure parameters of the mechanical gripper obtained by the numerical optimization method can meet it’s working requirements.Finally,according to the optimized structure parameters,the prototype of the manipulator gripper is made,and the picking test of different size castings is completed.The results show that the combination of numerical optimization design and motion simulation is effective in the design of manipulator gripper.
作者
刘俊
杨新志
王云锋
LIU Jun;YANG Xin-Zhi;WANGYun-Feng(Jiangsu Vocational College of Electronics and Information,Huai'an Jiangsu223003,China;China Productivity Center for Machinery,Beijing100044,China)
出处
《机电产品开发与创新》
2020年第6期5-7,11,共4页
Development & Innovation of Machinery & Electrical Products
基金
江苏电子信息职业学院校级基金项目HXYC2019001。
关键词
柱状铸件
机械手爪
数值优化
运动仿真
Cylindrical casting
Manipulator gripper
Numerical optimization
Motion simulation
