Realization of Structure and Spring Parameter Optimization of a Manipulator for the Pressing Down Assembling of the Workpiece with Cylindrical Inner Wall

Liangwen Wang; Weiwei Zhang; Yalin Mu; Ruolan Wang; Fannian Meng; Jihao Zhang

doi:10.16578/j.issn.1004.2539.2021.01.024

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Realization of Structure and Spring Parameter Optimization of a Manipulator for the Pressing Down Assembling of the Workpiece with Cylindrical Inner Wall

Development·Application | 更新时间：2022-11-10

- Realization of Structure and Spring Parameter Optimization of a Manipulator for the Pressing Down Assembling of the Workpiece with Cylindrical Inner Wall
- Journal of Mechanical Transmission Vol. 45, Issue 1, Pages: 146-151(2021)
- 作者机构：
  
  1.郑州轻工业大学机电工程学院，河南省机械装备智能制造重点实验室，河南郑州 450002
  2.宁波奥克斯电气股份有限公司，浙江宁波 315000
  3.郑州轻工业大学国际教育学院，河南郑州 450002
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.01.024
  CLC：
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王良文,张薇薇,穆亚林等.圆柱内壁件下压装配机械手结构实现及弹簧参数优选[J].机械传动,2021,45(01):146-151.

Wang Liangwen,Zhang Weiwei,Mu Yalin,et al.Realization of Structure and Spring Parameter Optimization of a Manipulator for the Pressing Down Assembling of the Workpiece with Cylindrical Inner Wall[J].Journal of Mechanical Transmission,2021,45(01):146-151.
王良文,张薇薇,穆亚林等.圆柱内壁件下压装配机械手结构实现及弹簧参数优选[J].机械传动,2021,45(01):146-151. DOI： 10.16578/j.issn.1004.2539.2021.01.024.

Wang Liangwen,Zhang Weiwei,Mu Yalin,et al.Realization of Structure and Spring Parameter Optimization of a Manipulator for the Pressing Down Assembling of the Workpiece with Cylindrical Inner Wall[J].Journal of Mechanical Transmission,2021,45(01):146-151. DOI： 10.16578/j.issn.1004.2539.2021.01.024.

摘要

根据特定产品生产工艺要求，设计了一种用于圆柱内壁件作业的内撑式抓取与下压装配机械手。该机械手在手指系统与筒状手掌之间采用弹性连接。在高速作业过程中，这类弹性连接形成手指系统的残留振动。在对机械手结构设计思想与结构介绍的基础上，对机械手系统采用Adams运动仿真，分析了弹簧系统参数对手指系统的残留振动的影响，并对影响机械手振动特性的关键参数——连接弹簧的参数进行了优化选择。实际机械手的运行结果表明，该机械手结构与弹性参数的选择可以很好地满足特定对象的作业要求。

Abstract

According to the production process requirements of specific products， a manipulator for the grasping and pressing down assembling of the workpiece with cylindrical inner wall using an inner bracing method is designed. For this manipulator， the finger system is flexibly connected with the tubular hand palm. The flexible connection forms a residual vibration of the finger system during high-speed operation. Based on introducing the design idea and structure of the manipulator， the Adams motion simulation is adopted for the manipulator system to analyze the effects of spring system parameters on the residual vibration of the finger system. The key parameter affecting the vibration characteristics of the manipulator-the parameter of connecting spring is optimized and selected. The actual operation results of the manipulator show that the structure and spring parameters of the manipulator can well meet the operation requirements of the specific object.

关键词

圆柱面内壁工件内撑式抓取下压装配机械手结构系统振动弹簧参数

Keywords

Workpiece with cylindrical inner wallInner bracing method for graspingPress down assemblyManipulator structureSystem vibrationSpring parameter

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