并联弹性杆拾放机器人机构的设计分析

峻霞 张; 秋晨 张

doi:10.16578/j.issn.1004.2539.2019.11.014

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并联弹性杆拾放机器人机构的设计分析

设计计算 | 更新时间：2022-10-25

- 并联弹性杆拾放机器人机构的设计分析
- Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task
- 机械传动 2019年第11期页码：78-83
- 作者机构：
  
  1.天津科技大学机械工程学院，天津 300222
- 作者简介：
  
  张峻霞（1968— ），女，山西原平人，教授，主要研究方向为人体仿生机构学及计算机辅助设计。
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.11.014
  中图分类号：
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张峻霞,张秋晨.并联弹性杆拾放机器人机构的设计分析[J].机械传动,XXXX,XX(XX):78-83.

Zhang Junxia Zhang Qiuchen.Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task[J].Journal of Mechanical Transmission,XXXX,XX(XX):78-83.
张峻霞,张秋晨.并联弹性杆拾放机器人机构的设计分析[J].机械传动,XXXX,XX(XX):78-83. DOI： 10.16578/j.issn.1004.2539.2019.11.014.

Zhang Junxia Zhang Qiuchen.Design and Analysis of a Parallel Elastic Rod Robot Mechanism for Pick and Place Task[J].Journal of Mechanical Transmission,XXXX,XX(XX):78-83. DOI： 10.16578/j.issn.1004.2539.2019.11.014.

摘要

在工业领域，拾放机器人刚性机构设计趋于成熟，但存在质量较大，人机协同工作时危险系数较高等缺陷。与此同时，弹性杆作为新型设计材料，因其自身材料的优点，已广泛应用在医疗、勘探等领域。基于此，提出一种可应用于拾放任务的并联弹性杆机器人机构。利用简化的Cosserat弹性杆模型，从刚体运动的角度描述弹性杆的变形，导出弹性杆动力学模型。在Matlab中建立并联弹性杆方程及虚拟样机模型，通过对关键材料和工作空间的分析，得到相应机构参数。研究输入角度、力矩与末端的位移的关系，通过搭建样机验证了理论的可行性和设计的合理性，为弹性杆在工业方面的应用提供参考。

Abstract

In the industrial field，the rigid mechanism design of the pick-and-place robot tends to be mature，but it has the defects of has a lot of mass and high risk factor when human and machine work together. At the same time，as a new design material，the elastic rod has been applied in the fields of medical treatment and exploration due to its own material advantages. Based on this，a parallel elastic rod robot mechanism that can be applied to pick-and-place tasks is proposed. By using the simplified Cosserat elastic rod model，the deformation of the elastic rod is described from the perspective of rigid body motion，and the dynamics model of the elastic rod is derived. The equation and virtual prototype model of the parallel elastic rod are established in Matlab. Through the analysis of key materials and workspace，the corresponding mechanism parameters are obtained. The relationship between the input angle，the torque and the displacement of the end-effector is studied. The feasibility of the theory and the rationality of the design are verified by setting up the prototype，which also provides a reference for the industrial application of the elastic rod.

关键词

Cosserat弹性杆并联机器人拾放任务机器人机构运动学

Keywords

Cosserat elastic rodParallel manipulatorPick-and-place taskRobot mechanismKinematics

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