搬运机械手仿真设计和制作

Simulation Design and Manufacture of Handing Manipulator

介绍了一种用于搬运的气动机械手的设计,机械手的机械结构主要包括由两个电磁阀控制的气缸来实现机械手的上升下降运动及夹紧工件的动作,两个转速不同的电动机分别通过两线圈控制电动机的正反转,从而实现小车的进退运动,并利用ADAMS软件对搬运机械手进行建模,对其进行运动学及动力学仿真,检查机械手在运动工作过程中的正确性和准确性,同时获得各部件机械手结构设计及其受力情况是否合理,为机械手设计提供参考。并在此基础上成功研制出物理样机,通过仿真设计提高了设计质量并缩短了设计周期。

The design of a pneumatic manipulator for moving is introduced,with the structure includes two air cylinders controlled by two solenoid valves to achieve the increasing and declining movements and work-piece clamping action,and two motors with different speed which control the forward movement and back movement through the two motor coils ,to set up the virtual prototyping model of handling manipulator.Through the use of ADAMS software ,the kinematics and dynamics simulation for inspecting the accuracy and exactitude during working pracess is carried out and at the same time the rationality of manipulator structure design of all the parts and its stress is examined,which provides references for design. And on this basis ,the physical prototype is successfully developed,through the simulation design the design quality is improved and the design cycle is shortened.