圆柱内壁件下压装配机械手结构实现及弹簧参数优选

王良文; 张薇薇; 穆亚林; 王若澜; 孟凡念; 张继豪

doi:10.16578/j.issn.1004.2539.2021.01.024

您当前的位置：

首页 >

文章列表页 >

圆柱内壁件下压装配机械手结构实现及弹簧参数优选

开发应用 | 更新时间：2022-11-10

- 圆柱内壁件下压装配机械手结构实现及弹簧参数优选
- Realization of Structure and Spring Parameter Optimization of a Manipulator for the Pressing Down Assembling of the Workpiece with Cylindrical Inner Wall
- 机械传动 2021年45卷第1期页码：146-151
- 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：
  
  王良文（1963— ），男，湖北荆州人，博士，教授，博士生导师，研究方向为机器人机构设计及动力学分析与综合。
- 基金信息：
  
  国家自然科学基金(52075500);河南省重点科技攻关项目(202102210086);郑州轻工业大学博士基金项目(2016BSJJ009)
- DOI：10.16578/j.issn.1004.2539.2021.01.024
  中图分类号：
扫描看全文
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

references

CUTKOSKY M R.On grasp choice，grasp models，and the design of hands for manufacturing tasks［J］.IEEE Transactions on Robotics & Automation，1989，5（3）：269-279.

DAVIS S，GRAY J O，CALDWELL G D，et al.An end effector based on the bernoulli principle for handling sliced fruit and vegetables［J］.Robotics and Computer Integrated Manufacturing，2006，24（2）：249-257.

SHINTAKE J，ROSSET S，SCHUBERT B，et al.Versatile soft grippers with intrinsic electro adhesion based on multifunctional polymer actuators［J］.Advanced Materials，2016，28（2）：231-238.

KOSUGE K，LEE J，ICHINOSE J，et al.A novel grasping mechanism for flat-shaped objects Inspired by lateral grasp［C］.Proceedings of the 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics，Scottsdale，AZ.New York：IEEE，2008：282-288.

BABIN V，ST-ONGE D，GOSSELIN C.Stable and repeatable grasping of flat objects on hard surfaces using passive and epicyclic mechanisms［J］.Robotics and Computer-Integrated Manufacturing，2019，55（Part A）：1-10.

林峰.超硬材料的研究进展［J］.新型工业化，2016，6（3）：28-52.

LIN Feng.A survey of research on superhard materials［J］.The Journal of New Industrialization，2016，6（3）：28-52.

王良文，王团辉，穆亚林，等.圆柱内壁工件的内撑式抓取与装配机械手设计［J］.机械传动，2019.43（9）：166-170.

WANG Liangwen，WANG Tuanhui，MU Yalin，et al.Design of a manipulator for the inner bracing grasping and assembling of the workpiece with cylindrical inner wall［J］.Journal of Mechanical Transmission，2019，43（9）：166-170.

WANG L W，WANG T H，MU Y L，et al.The bionic configuration of loading fixible manipulator based the Inner bracing grab method［C］.Proceedings of the 2018 International Conference on Robots & Intelligent System，May 14-17，2018，Changsha，China.New York：IEEE，2018：26-27.

王良文，李应生，杜文辽，等.圆柱面内壁物件的内撑式抓取与套模下压机械手：CN107020494［P］.2017-08-08.

WANG Liangwen，LI Yingsheng，DU Wenliao，et al.A manipulator for the grasping and Pressing down assembling of the workpiece with cylindrical inner wall using an inner bracing method：CN107020494［P］.2017-08-08.

OUYANG G，ZHU X，JU Z，et al.Dynamical characteristics of surface EMG signals of hand grasps via recurrence plot［J］.IEEE Journal of Biomedical and Health Informatics，2014，18（1）：257-265.

FENG Y F，ZHOU D L，LI K R，et al.Interface prostheses with classifier-feedback-based user training［J］.IEEE Transactions on Biomedical Engineering，2016，64（11）：2575-2583.

濮良贵，陈国定，吴立言，等.机械设计［M］.9版.北京：高等教育出版社，2013：394-397.

PU Lianggui，CHEN Guoding，WU Liyan，et al.Mechanical design［M］.9th ed.Beijing：Higher Education Press，2013：394-397.

陈学文，潘春梅，王良文，等.基于ADAMS的步行机器人MiniQuad—II机体载荷质量变化对驱动力矩的影响研究［J］.机械传动，2013，37（9）：18-21.

CHEN Xuewen，PAN Chunmei，WANG Liangwen，et al.Research of the influences of body load quality changed of walking robot MiniQuad-II on driving moment based on ADAMS［J］.Journal of Mechanical Transmission，2013，37（9）：18-21.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

易碎叶腊石块生产装配机械手结构的实现及运动控制

圆柱内壁工件的内撑式抓取与装配机械手设计