电路板夹爪机构运动学分析

Kinematics Analysis of the Circuit Board Gripper Mechanism

设计出一套性能优异的末端执行器是提高机器人性能的有效手段。讨论了用于ABB IRB1200机器人的电路板夹爪机构的运动学分析问题。给出了电路板夹爪机构的工作原理,通过对夹爪机构夹爪的位移、速度和加速度等进行解析法求解,用运动影响系数理论对其运行机理进行了分析。为了检验这些分析结果,应用Matlab软件绘制了由解析法得出的运动参数曲线;在UG软件中通过定义连杆、运动副,给定驱动件运动控制函数等,对该机构进行了运动学仿真分析,并输出了相应的运动参数曲线。结果显示,在Matlab和UG两种环境下的运动分析结果完全一致,分析结果为该夹爪的实际应用提供了有力的理论支持;加工装配的实物电路板夹爪机构的运行状况也证明了这个设计是有效的。

Designing an excellent end effector is effective to improve a robot’s performance.The kinematics analysis of a circuit board gripper mechanism used in ABB IRB1200 robot is discussed.The working principle of the circuit board gripper mechanism is analyzed;the displacement,velocity and acceleration of the gripper mechanism are solved with analytical methods;the mechanism is analyzed with the theory of kinematic influence coefficient.The motion parameter curve is drawn with the Matlab software in order to verify the analysis results obtained by the analytical method.The kinematics simulation analysis of the mechanism is carried out after defining the connecting rod and the kinematic pair,and giving the motion control function of the driving part,etc.in the UG software;the corresponding motion parameter curve is outputted at the same time.It can be shown that the motion analyses are completely consistent under both the Matlab and the UG environments;strong theoretical support for practical application of the gripper is provided by this motion analysis.This design is effective,which is demonstrated by good operating status of the assembled circuit board gripper mechanism.