Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block

Liangwen Wang; Jihao Zhang; Yalin Mu; Qinghua Zhang; Ruolan Wang; Shizhao Zhang

doi:10.16578/j.issn.1004.2539.2021.07.022

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Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block

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

- Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block
- Journal of Mechanical Transmission Vol. 45, Issue 7, Pages: 148-155(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.奥克斯电气股份有限公司，浙江宁波 315000
  3.洛阳圣瑞智能机器人有限公司，河南洛阳 471000
  4.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.1004.2539.2021.07.022
  CLC：
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王良文,张继豪,穆亚林等.易碎叶腊石块生产装配机械手结构的实现及运动控制[J].机械传动,2021,45(07):148-155.

Wang Liangwen,Zhang Jihao,Mu Yalin,et al.Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block[J].Journal of Mechanical Transmission,2021,45(07):148-155.
王良文,张继豪,穆亚林等.易碎叶腊石块生产装配机械手结构的实现及运动控制[J].机械传动,2021,45(07):148-155. DOI： 10.16578/j.issn.1004.2539.2021.07.022.

Wang Liangwen,Zhang Jihao,Mu Yalin,et al.Structure Realization and Motion Control of a Manipulator for the Production and Assembling of the Fragile Pyrophyllite Block[J].Journal of Mechanical Transmission,2021,45(07):148-155. DOI： 10.16578/j.issn.1004.2539.2021.07.022.

摘要

根据人造金刚石合成原料——叶腊石块生产工艺要求，设计了一种用于易碎圆柱内壁件作业的内撑式抓取与下压装配机械手。该机械手将抓取物件和装配物件动作一起完成，将按压动作的结构设计为桶状手掌，把抓取转运动作的内撑式圆弧三手指嵌套在桶状手掌的内圆柱面内，通过指掌联合完成在狭窄空间内的装配作业。在介绍机械手整体结构的基础上，讨论了推送气缸的选取及气压控制系统；研究了采用不同运动规律控制机械手转运作业时对作业过程稳定性的影响。通过对运动规律的理论分析，以及对机械手转运作业过程采用Adams进行运动仿真，表明采用修正梯形运动规律控制机械手的转运运动，可以获得较好的运动性能。研究结果为改良机械手系统的运行奠定了一定的基础。

Abstract

According to the production process requirements of the pyrophyllite block，which is raw material for synthetic diamond，a manipulator with internal bracing grasping and pressing assembly for fragile cylindrical inner wall parts is designed. The manipulator completes the grasping and assembling together，and the structure of the pressing action is designed as a barrel-shaped palm，and the three circular arc fingers with internal bracing grasping，which complete the grasping and transferring action，are nested in the inner cylindrical surface of the barrel-shaped palm. Based on the introduction of the overall structure of the manipulator，the selections of the pushing cylinder and the pneumatic control system are discussed. The influence of different motion laws on the stability of the operation process is investigated when controlling the transfer operation of the manipulator. The theoretical analysis of the motion laws and the Adams motion simulation of the manipulator working process indicate that better motion performance can be obtained by using modified trapezoidal motion laws to control the transferring motion of the manipulator. The results of the study laid a good foundation for the operation of the improved manipulator system.

关键词

易碎件圆柱面内壁工件内撑式抓取下压装配机械手结构运动规律

Keywords

Fragile workpieceCylindrical surfaceInner wall workpieceInner bracing method for graspingPress down assemblyManipulator structureMotion law

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