卫生陶瓷擦坯机械手机构设计与研究

发布时间：2018-02-28 02:08

  本文关键词： 机械手 擦坯 往复运动 运动仿真　出处：《机械设计与制造》2017年02期 　论文类型：期刊论文

【摘要】：结合现有机器人打磨技术及生产实际,设计出区别于传统利用"旋转"式打磨方式,模仿人工"往复直线"式打磨动作的机械手机构,该机械手安装在多自由度关节机器臂的末端;对机械手的机构进行了理论分析及实验论证;运用MATLAB软件对机械手指的数学模型进行了数据处理;利用Solidwords软件建立了机械手的三维模型,并应用motion插件对机械手的三维模型进行了运动仿真,获得了擦坯机械手的运动、速度、加速度-时间曲线图,通过对仿真数据的分析,验证了设计的可行性。
[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.
【作者单位】： 华北理工大学机械工程学院;
【分类号】：TQ174.769;TP241
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本文编号：1545296