打结装置中α环成形机构的仿生设计与分析

Bionic Design and Analysis ofα-Ring Forming Mechanism in Knotting Device

为了使柔性尼龙线绳在单一机构的条件下自动形成α环,基于仿生原理设计了一种打结装置中的α环成形机构。对α环成形机构的整体结构进行设计,建立了绕环过程中尼龙线绳的轨迹方程,并利用ADAMS仿真软件对α环成形机构进行运动学分析。仿真分析结果表明:该α环成形机构能够实现尼龙线绳的自动成环,转动绕环方案可行且运动平稳,为打结装置的机构设计奠定了基础。

In order to make the flexible nylon cord automatically form α ring under the condition of single mechanism,a kind of forming mechanism ofαring in the knot device was designed based on the bionic principle.In this paper,the whole structure of theα-ring forming mechanism is designed,and the trajectory equation of the nylon rope in the process of loop winding is established,and the kinematics analysis of theα-ring forming mechanism is carried out by using ADAMS simulation software.The simulation results show that the α-ring forming mechanism can realize the automatic ring forming of nylon rope,and the rotating loop winding scheme is feasible and the movement is stable,which lays a foundation for the design of the knot tying device.