一种新型数控气动机械手的设计与研究

Design and research on a new pneumatic manipulator for NC machine

针对市场对经济性数控机床的需求,设计了一种全新的经济型数控机床装夹机械手,通过一次调整就能够对某一种待加工工件进行自动装夹及卸料;运用非线性规划技术得到结构最优机械手的尺寸,运用极点配置技术为提高运动的鲁棒性提供了一种思路;解决了在保证机械手正常工作的情况下快速有效定位的问题,探索了其实现最优控制的方法;在分析运动学理论的基础上建立了机械手运动学模型,实现了机械手整个工作过程虚拟样机模型的运动仿真,得到了机械手的运动仿真数据,验证了机械手结构的可行性,为后续新型机械手的详细设计提供了依据。

Aiming at the market needs of CNC machine toots,a new type of CNC machine tool clamping economic manipulator was designed,through an adjustment,it can be a kind of automatic work piece clamping and unloading.Using nonlinear programming techniques,the optimal size of the robot structure was gotten,using the theory and application of pneumatic servo pole placement technique,the robustness of motion was improved.Under ensuring the case of work well,the problem quickly and effectively locate was solved,its approach was explored to achieve optimal control.In analysis of multi-mechanics kinematics,the manipulator multimode dynamic kinematics model was established,and a mechanical hand throughout the process of the virtual prototype model of the motion simulation was implemented,the manipulator motion simulation data was provided to verify the manipulator feasibility for subsequent detailed design of the new robot.