基于Adams的Delta并联分拣机械手运动仿真

The Kinematic Simulation of Delta Parallel Hand-sorting Manipulator Base on Adams

通过对分拣机械手的总体设计方案的分析,采用扫描法得出其工作空间,从而选择出合适的机构尺寸。在此基础上,通过运动学分析,从推导出的雅克比矩阵中得到速度、加速度的正反解表达式;并通过Adams验算了求解的正确性。最后对机械手速度和加速度进行分析,找出它与摆臂的摆动角速度和所加转矩的关系,从理论上为电机的选型提供依据。

Overall design scheme of hand-sorting manipulator is analyzed in this paper, the work space is obtained by scanning method, so as to choose appropriate mechanism size. On the basis of, the Jacobi matrix is obtained through kinematics analysis, so the forward and inverse velocity and acceleration are obtained by the Jacobi matrix; at the same time, the correctness is validated by Adams simulation. Finally, through analysis of the speed and the acceleration of manipulator, the relations between the swing angular velocity and add torque of swing ann are obtained, which provide a basis theory for motor selection.