吸盘机械手运动参数设计和优化

Design and Optimization of Motion Parameters of Sucker Manipulator

针对制袋机中拉链预装工作台的吸盘机械手,其工作特点是高速往返、频繁启停,为保证工艺质量,必须降低吸盘机械手柔性执行末端在运动过程中产生的冲击振动。应用Adams软件建立吸盘机械手的刚柔耦合模型,对其运动速度进行梯形曲线运动规划,分析不同加速度下的试验结果,得到最大运动速度曲线。并在此基础上进行S形曲线规划,通过与梯形曲线的对比分析,得出S形曲线的运动平稳性更佳。同时对S形曲线的运动参数进行了优化,使得运动过程的振动最小,以保证机械手的运动过程快速、平稳、可靠。

The sucker manipulator of bag making machine for the zipper pre-installed workbench has the characteristics of high-speed round-trip and frequent start-stop.In order to ensure the quality of the pre-installed zipper,it is necessary to reduce the impact vibration generated by the flexible end of the sucker manipulator during the movement.The rigid-flexible coupling model of device was established by Adams software.The trapezoidal motion planning of the motion velocity was carried out,and the test results under different accelerations were analyzed to obtain the maximum motion velocity curve.The S-shaped curve was planned on this basis,and the comparison with the trapezoidal curve shows the S-shaped curve has better motion stability.At the same time,the motion parameters of the S-shaped curve are optimized to minimize the vibration of the motion process to ensure that the motion of the robot is fast,stable and reliable.