摘要
将平面3自由度串联机械手与数控机床进行一体化设计。根据工件输送带和机床三角卡盘的空间位置,规划机械手的运动路径。给定各段路径的运动时间,应用ADAMS软件对机械手上下料的一个完整周期进行动力学仿真,解算出大臂、小臂和抓手的转角、角速度和角加速度。在抓取最大质量工件时,对3个关节处所需的驱动力矩的动态过程进行了仿真。仿真结果表明:上下料机械手与机床集成化设计的方法正确,并为伺服电机的选型提供了完整的数据依据。
A planar three degree of freedom( 3-DOF) serial manipulator was integrated and designed with the computer numercial control( CNC) machine tool. According to the space positions of the workpiece conveyor belt and the machine tool chuck,motion path planning of gripper center of the manipulator was made. Then set the motion time of each route,the dynamics simulation was conducted of manipulator in a complete cycle of loading and unloading workpiece with ADAMS software. Further,rotation angle,angle velocity and angle acceleration were calculated of large arm,small arm and gripper. When grabbing maximum mass of the workpiece,the driving torque required in three joints in the dynamic process was simulated. The simulation results show that method of integrated designing is correct,and can provide complete data reference for the selection of types of servo motor.
出处
《机床与液压》
北大核心
2016年第11期37-40,87,共5页
Machine Tool & Hydraulics
基金
辽宁省教育厅科学研究一般项目(L2014236)
关键词
机械手
数控机床
上下料
驱动力矩
动力学仿真
Manipulator
CNC Machine tool
Loading and unloading workpiece
Driving torque
Dynamics simulation
