一种吹瓶机取送瓶机械手取瓶运动的改进设计

Improved Design of Bottle Taking Movement of Bottle Blowing Machine

为了研究机械手在工作中的运动状态,提高机械手的工作效率,对一种吹瓶机机械手取送瓶的运动过程进行分析,在其取瓶靠近阶段设计出一条新的运动轨迹,并用五次多项式进行拟合。采用三次样条函数对衔接点及同步阶段轨迹进行拟合,保证了机械手速度与加速度的连续。模拟分析表明,改进后的机械手绝对速度变得平顺,绝对加速度也大幅度降低。

In order to study the motion state of the manipulator during work and improve the efficiency of the manipulator,the movement of a bottle blowing machine manipulator to take and send bottles was analized.A new movement trajectory was designed in the near phase of bottle taking and the fifth-degree polynomial was used.The fitting and the trajectory of the synchronization point and the trajectory of the synchronization phase were fitted using a three-system spline function to ensure the continuous acceleration of the manipulator speed.According to the analysis of the simulation data,it is found that the absolute speed of the manipulator becomes smooth in the improved design scheme and absolute acceleration is greatly reduced as well.