摘要
工业机器人是一种用于冲压线上的上下料机械手,首先详细分析了冲压上下料机械手的机械结构及其功能,然后借助Solid Works与Adams良好的数据共享功能,把模型数据直接导入Adams中,添加相应的约束、驱动。接着在末端轴添加一个marker点,得到该点的运动仿真轨迹,验证了机械手进行上下料操作的可行性。最后通过后处理得到末端轴的位移、速度、加速度曲线,观察分析相关曲线变化趋势,以此校核上下料时的稳定性,为后续的动力学仿真奠定基础。
The industrial robot in this paper is a kind of materiel feeding manipulator for stamping production line. Firstly,itsmechanical structure and function are analyzed in detail. Then,through the good date interface of Solid Works and Adams todirectly import model date to the Adams,the constraint and driving are added. Adding a marker point in the end shaft,thetrajectory of deeding is obtained,thus to verify the feasibility of feeding from top to bottom. Finally,the curves of displace-ment,velocity and acceleration in the endshaft are obtained through post-processing. Stability check is conducted when load-ing and unloading based on observing and analyzing the trends in those curves,so as to lay the foundation for subsequent dy-namics simulation.
出处
《机械研究与应用》
2016年第6期87-89,共3页
Mechanical Research & Application
