Design and Analysis of Supporting Sleeve Manipulator based on Shear Link Mechanism

Yanwei Cheng; Qiang Zhang; Zhanli Wang; Hao Zhang; Wanxi Liu

doi:10.16578/j.issn.1004.2539.2020.09.013

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Design and Analysis of Supporting Sleeve Manipulator based on Shear Link Mechanism

Design· Calculation | 更新时间：2022-11-02

- Design and Analysis of Supporting Sleeve Manipulator based on Shear Link Mechanism
- Journal of Mechanical Transmission Vol. 44, Issue 9, Pages: 84-89(2020)
- 作者机构：
  
  1.长春工业大学机电工程学院，吉林长春 130012
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.09.013
  CLC：
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陈延伟,张强,王占礼等.基于剪式连杆机构撑套机械手的设计与分析[J].机械传动,2020,44(09):84-89.

Cheng Yanwei,Zhang Qiang,Wang Zhanli,et al.Design and Analysis of Supporting Sleeve Manipulator based on Shear Link Mechanism[J].Journal of Mechanical Transmission,2020,44(09):84-89.
陈延伟,张强,王占礼等.基于剪式连杆机构撑套机械手的设计与分析[J].机械传动,2020,44(09):84-89. DOI： 10.16578/j.issn.1004.2539.2020.09.013.

Cheng Yanwei,Zhang Qiang,Wang Zhanli,et al.Design and Analysis of Supporting Sleeve Manipulator based on Shear Link Mechanism[J].Journal of Mechanical Transmission,2020,44(09):84-89. DOI： 10.16578/j.issn.1004.2539.2020.09.013.

摘要

为了实现柔性硅胶隔离套能够沿预设轨迹自动撑开的功能，设计了一种基于剪式连杆机构的撑套机械手。对撑套机械手总体方案和剪式连杆机构进行设计研究，建立剪式连杆机构的运动学方程，进行撑爪杆质心运动轨迹仿真，并利用Adams仿真软件进行运动学分析。结果表明，设计的撑套机械手能够满足轨迹输出要求，撑套过程中无干涉现象且运行平稳，为下一步撑套机械手的优化设计奠定了基础。

Abstract

In order to realize the function that the flexible silicone isolator can automatically open along the preset track， a kind of supporting sleeve manipulator based on shear linkage mechanism is designed. The overall scheme of the support sleeve manipulator and the shear link mechanism are designed and studied， the kinematics equation of the shear link mechanism is established， the motion track of the center of mass of the support and grip rod is simulated， and the motion simulation is analyzed by using Adams software. Simulation results show that the designed braced manipulator can meet the trajectory output requirements， and there is no interference in the supporting process and the operation is stable， which lays a foundation for the optimization design of the support manipulator in the next step.

关键词

撑套机械手剪式连杆机构运动学分析

Keywords

Supporting sleeve manipulatorShear link mechanismKinematics analysis

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