摘要
针对人工选矸存在的工作环境恶劣、分选效率低等缺点,设计一种并联SCARA型煤矸石分拣机器人。建立其三维模型,阐述各部分的组成结构与工作原理;采用模型对称简化的求解方法,对分拣机器人进行有限元分析和强度校核;根据分拣机器人的几何特点采用解析法求解其正逆运动学。结果表明:该设计能够满足粒度在300~600 mm之间矸石的分拣,具有较高的安全系数和可靠性,能够应用在煤矸石分选及其他相关行业。
Aiming at the disadvantages of the poor working environment and low sorting efficiency of the artificial gangue sorting, a parallel SCARA type gangue sorting robot was designed. The three-dimensional modeling was carried out, and the composition structure and working principle of each part were described. The solution method of symmetrical and simplified model was adopted to carry out the finite element analysis and strength check of the sorting robot.According to the geometric characteristics of the sorting robot, the forward and inverse kinematics were solved by using analytic method.The results show that the design can meet the requirements of gangue sorting with a particle size of 300~600 mm, with high safety factor and reliability, and can be applied in gangue sorting and other related industries.
作者
赵明辉
宣鹏程
张少宾
ZHAO Minghui;XUAN Pengcheng;ZHANG Shaobin(China Coal Technology&Engineering Group Shanghai Co.,Ltd.,Shanghai 200030,China;College of Electronics and Information Engineering,Tongji University,Shanghai 201804,China;School of Mechanical Electronic and Information Engineer,China University of Mining and Technology-Beijing,Beijing 100083,China)
出处
《机床与液压》
北大核心
2021年第5期55-59,共5页
Machine Tool & Hydraulics
基金
天地科技股份有限公司科技创新创业资金专项项目(2018-TD-MS031)。
关键词
并联机器人
结构设计
有限元分析
运动学分析
Parallel robot
Structure design
Finite element analysis
Kinematic analysis
