摘要
为解决打磨机器人使用力传感器存在的弊端,设计了一种使用电位器采集旋转角度的卫生陶瓷修坯机械手。利用SolidWorks绘制三维模型,并通过对修坯机械手进行有限元分析验证了机械手设计的可行性,运用采集卡NI USB-6251和LabView构建采集模块实时采集机械手与坯体表面接触时手指旋转角度,实现了角度实时反馈于控制系统,利于机器人保持恒力,从而精确修坯。
In order to solve the disadvantages of using a force sensor in a grinding robot,a sanitary ceramic trimming manipulator using a potentiometer to collect the rotation angle was designed.The three-dimensional model was drawn with SolidWorks,and the feasibility of the manipulator design was verified by finite element analysis of the blank trimming manipulator.Using the acquisition card NI USB-6251 and LabView to construct the acquisition module to capture the real-time rotation angle of the finger when the manipulator is in contact with the surface of the blank body,real-time feedback of the angle to the control system is beneficial to the robot to maintain a constant force,and to accurately trim the blank.
作者
李占贤
霍炳杰
黄宝旺
LI Zhan-xian;HUO Bing-jie;HUANG Bao-wang(Hebei Robot Industrial Technology Research Institute,Tangshan 063210,China;College of Mechanical Engineering,North China University of Science and Technology,Tangshan 063210,China)
出处
《机械工程与自动化》
2020年第1期112-114,共3页
Mechanical Engineering & Automation
关键词
卫生陶瓷
修坯机械手
角度采集
结构设计
sanitary ceramics
blank trimming manipulator
angle acquisition
structural design
