新型跌落装置3R机械手参数分析与研究

Analysis and Research on the Parameters of the New Drop Device 3R Manipulator

以新型跌落装置3R气动机械手为研究对象,通过分析3R机械手各个关节与连杆间的空间关系,建立相应的D-H运动模型,运用动力学分析角跌落状态3R机械手末端释放试品瞬时加速度,找出满足角跌落瞬间重力加速度的数值范围。运用牛顿-欧拉方程,设计气缸驱动力,利用ADAMS软件进行仿真建模,验证机械手运动平滑稳定状态,从而解决角跌落时由于二次碰撞所引起的试品姿态改变的困扰,为后续跌落试验分析提供了理论依据。

Taking 3R pneumatic manipulator,a new drop device,as the research object,the corresponding kinematic model was established by analyzing the spatial relationship between each joint and connecting rod of 3R manipulator;and the instantaneous acceleration of test product released at the end of 3R manipulator in angular drop state was analyzed through dynamics,so as to find out the numerical range of gravity acceleration satisfying the angular drop moment.The newton-Euler equation was used to design the driving force of the cylinder;and ADAMS software was used for simulation modeling to verify the smooth and stable state of the movement of the manipulator,so as to solve the problem of the attitude change of the test product caused by the second collision when Angle drop,providing a theoretical basis for the subsequent drop test analysis.