基于ADAMS的机器人夹砖专用抓手设计

Design of Special Gripper for Robot Brick Based on ADAMS

针对砌墙行业机器人抓手不够灵活的问题,设计了一种机器人夹砖专用抓手,包括动力系统、传动系统、执行系统和调节装置,通过对执行机构自由度的计算和运用多体动力学软件ADAMS对执行机构进行运动学分析,并求出夹具末端的运动轨迹和各个方向的运动速度和加速度。分析结果表明,执行机构的运动合理,能够实现在机器人快速移动过程中对砖块平稳可靠的夹持。

Aiming at the problems of the wall industry robot gripper is not flexible enough,this paper designed a robot clip brick special starting point,including power system,transmission system,execution system and regulating device,the use and the calculation of DOF actuator multi-body dynamics software ADAMS to perform the kinematic analysis,and calculated the movement speed and acceleration at each end of the track and direction of the fixture.The analysis results show that the motion of the actuator is reasonable,which can achieve fast movement of bricks in the process of stable and reliable clamping robot.