双臂吊装机械手机构设计

Design of Manipulator With Double Arms

为提高某锰电解厂电解工艺生产效率,改善工人劳动环境,设计了具有双臂独立运动的吊装机械手。首先对生产工艺要求进行分析,因其垂直工作行程较大,为了避免螺杆行程过长造成运动不稳,选择五杆缩放机构作为机械臂。确定了机械臂夹持端的工作范围,计算了各种位姿下机械臂各杆的长度和机械臂可能达到的最高点,并计算了各主要杆件的弯矩。由于该五杆机构采用缩放方式来放大机械臂末端的行程,巧妙避开了可能因工作垂直行程大造成的机构运动不稳定和空间不足等问题。

To boost the productivity of the electrolysis process and improve the working conditions of the workers in an electrolytic manganese plant, a manipulator with double arms, that each can be used to execute different movement, is designed. For the plant＇s production process requires a longer vertical stoke at the end of the arm, which would cause instability if screw mechanism is used, the displacement pantograph mechanism is chosen as the basic model of the arms. The link lengths of the arms with different poses are synthesized according to the movement required by the production process, and limit pasitions on the arms and the bending moments of the main links also are calculated. For the pantograph mechanism could enlarge the actuator＇s displacement, hence, the screw could have smaller axial length. The problems of instability in screw mechanism caused by its long vertical stroke and lack of motion space limited by the workshop roof would be solved skillfully.