夹持机械手爪机构的设计与优化

发布时间：2018-02-27 13:03

  本文关键词： 配药机器人 传力比 机械手抓 速度分析　出处：《机械设计与制造》2016年06期 　论文类型：期刊论文

【摘要】：目前,在药物的配制过程中,尤其是有毒性的化疗药物的配制,会对自己的健康造成很多的损害,因此,越来越多的医院需求自动化配制有毒药物的机器人。配药机器人中机械手用来代替人手进行药品的输送和抓取,因此机械手末端的设计是抓取物体的成功与否的关键。针对现有机械手抓的缺点,基于双滑块机构的传动方式,设计了一款新型机械手抓。并对其运动和应力进行理论分析,利用Recurdyn软件和ABAQUS软件分别进行仿真来证明理论的正确性。同时,成功制作样机模型,并完成实验测定。
[Abstract]:At present, in the process of preparation of drugs, especially the preparation of toxic chemotherapeutic drugs, will cause a lot of damage to their own health, therefore, More and more hospitals are demanding robots that automate the preparation of toxic drugs. In dispensing robots, robots are used to deliver and grab drugs instead of hands. Therefore, the design of the end of manipulator is the key to the success or not of grasping objects. In view of the shortcomings of the existing manipulator, a new type of manipulator gripping is designed based on the transmission mode of double-slider mechanism, and its motion and stress are analyzed theoretically. Recurdyn software and ABAQUS software are used to verify the correctness of the theory. At the same time, the prototype model is made successfully and the experimental measurement is completed.
【作者单位】： 河北工程大学机电工程学院;
【基金】：国家自然科学基金资助项目(61340047)
【分类号】：TH788
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本文编号：1542780