基于ADAMS的安全阀自动上料机械手运动学研究

Kinematic Study of Safety Valve Auto-Loading Manipulator Based on ADAMS

针对目前安全阀离线校验阀体上料时,存在的效率低、空间要求高等问题,课题组提出了一种安全阀自动上料机械手,并根据安全阀离线校验的工况需求,在SolidWorks软件中建立了该机械手的三维模型。为了更好地制定运动控制方案及制造物理样机,课题组对该机械手进行运动学研究:采用D-H法建立了机械手的运动学方程,并基于ADAMS软件对机械手整体上料过程进行了运动学仿真分析,得到了机械手在上料过程中的位移、速度和加速度等运动特性曲线。研究结果表明:所有运动特性曲线变化平稳,无突变现象,验证了该自动上料机械手物理样机制造的可行性,提高了安全阀离线校验效率。

In view of the problems of low efficiency and high space requirement existing in the current off-line verification of valve body loading of safety valve,an auto-loading manipulator of safety valve was proposed.According to the requirements of off-line verification of safety valve,a three-dimensional model of the manipulator was established in SolidWorks software.In order to make a better motion control scheme and make a physical prototype,it was necessary to study the kinematics of the manipulator.The kinematics equation of the manipulator was established by D-H method,and the kinematics simulation analysis of the whole loading process of the manipulator was carried out based on ADAMS software.The movement characteristic curves of displacement,velocity and acceleration of the manipulator in the loading process were obtained.The results show that all the motion characteristic curves change smoothly without mutation,prove the feasibility of the physical prototype manufacturing of the manipulator,and improve the efficiency of safety valve off-line calibration.