卫生陶瓷擦坯机械手机构设计与研究

The Structural Study and Design on Sanitary Ceramics Wipe Billet Manipulator Mechanism

结合现有机器人打磨技术及生产实际,设计出区别于传统利用"旋转"式打磨方式,模仿人工"往复直线"式打磨动作的机械手机构,该机械手安装在多自由度关节机器臂的末端;对机械手的机构进行了理论分析及实验论证;运用MATLAB软件对机械手指的数学模型进行了数据处理;利用Solidwords软件建立了机械手的三维模型,并应用motion插件对机械手的三维模型进行了运动仿真,获得了擦坯机械手的运动、速度、加速度-时间曲线图,通过对仿真数据的分析,验证了设计的可行性。

Combined with the existing robot grinding technology and the production practice,designed a kind of grinding motion manipulator which are different from traditional method of spin type of polishing,own a high leveal of imitation＂ reciprocating linear＂ type grinding action of the manipulator and the mechanism of manipulator are installed at the end of the multidimensional joint robot arm;the mechanism of manipulator are analyzed in theory andaredemonstrationed by some experiments ;use the MATLAB software to disposed the mathematical model of the grinding motion manipulator;made the 3D model of manipulator by Solidworks,useing motion plug-in finished the movement simulation to the 3D model of the manipulator,Obtain the curve of mation,velacity and acceleration tathe manipulator, based on the analysis of simulation data, the feasibility of the design was verified.