一种双手爪摆动机械手传动机构及优化设计

A Driving Mechanism of Swing Manipulator with Double Claws and Its Optimal Design

针对小空间作业要求的桁架机器人机械手的手腕结构,设计了一种应用于工业桁架机器人的双手爪V字型摆动机械手的传动机构,通过其静力和几何尺寸的分析,得到了机械手抓取位置时摆块的输出转矩。以摆杆和连杆长度为设计变量、以摆块最大转矩输出为优化目标建立了优化模型,并利用MATLAB进行了优化计算,得到了传动机构所能产生最大转矩时所对应的摆杆和连杆长度。最后,给出了机械手在整个摆动过程中,输出转矩随输入位置变化的变化图。设计的摆动手腕传力机构具有扩力效果,在不增加气缸缸径和不改变气缸行程等前提下,只优化传动机构尺寸,使传力机构达到最佳的扩力效果,从而解决了未优化前摆动块的输出力矩不满足使用条件的问题。

Aiming at the wrist structure of the truss robot manipulator in small space operation,a driving mechanism for V-type swing manipulator with double claws is designed,which is applied to the industrial truss robot.Its output torque of swing mechanism at grasp position is calculated.Taking swinging rod length and the connecting rod length as design variables,the optimization model of the optimal objective is set up with the maximum torque output of the swing mechanism.The optimization calculation is carried out by using MATLAB.The swing rod and the connecting rod length corresponding to the maximum torque of the transmission mechanism are obtained.Lastly,the change curve of the output torque with the change of the input position is given in the whole swing process.The swing manipulator of this paper has the function of expanding force.By optimizing the size of the driving mechanism without increasing the cylinder bore and without changing the cylinder stroke,the force transmitting mechanism can achieve the best effect of expanding force.The problem that the output torque of the non-optimized swinging block being unable to meet the condition of use is solved.