蔬菜采摘机器人通用夹持机构设计——基于UG和ADMAS联合仿真

发布时间：2019-04-21 09:22

【摘要】：为了提高夹持机构的设计效率和精度,提出了一种新的采摘机器人通用夹持机构的同步设计优化方法,将UG和ADMAS软件引入到了夹持机构的设计过程中,并利用软件的联合虚拟仿真功能,实现了夹持机构的合理布局和夹紧力的计算与同步优化。利用夹持机构的加工工序,在UG软件中对夹持机构进行了布局,并通过运动约束的添加使夹持机构处于完全打开状态。将UG夹持机构模型导入到ADMAS软件中进行了动力学仿真,通过计算得到了影响弹簧夹紧力关键点变量的敏感度,取对弹簧夹紧力影响较大的点进行了优化,得到了弹簧产生最大夹紧力时变量点的弹簧位移,从而实现了夹持机构的优化设计。最后,对夹持机构的运动性能进行了仿真计算,为夹持机构的稳定性设计提供了理论依据。
[Abstract]:In order to improve the design efficiency and precision of the clamping mechanism, a new synchronous design optimization method for the universal clamping mechanism of picking robot is proposed. The software of UG and ADMAS is introduced into the design process of the clamping mechanism. Using the joint virtual simulation function of the software, the reasonable layout of the clamping mechanism and the calculation and synchronous optimization of the clamping force are realized. By using the processing procedure of the clamping mechanism, the clamping mechanism is laid out in the UG software, and the clamping mechanism is completely opened by the addition of the motion constraints. The model of UG clamping mechanism is imported into ADMAS software and the dynamic simulation is carried out. The sensitivity of key variables affecting the clamping force of spring is obtained by calculation, and the points which have great influence on the clamping force of spring are optimized. The spring displacement of the variable point when the maximum clamping force is generated is obtained, and the optimal design of the clamping mechanism is realized. Finally, the motion performance of the clamping mechanism is simulated and calculated, which provides a theoretical basis for the stability design of the clamping mechanism.
【作者单位】：广州铁路职业技术学院;
【基金】：广东省高等职业教育教学改革项目(201401196)
【分类号】：S225.92;TP242

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