圆纬机自动割布机械手的设计与研究

Design and Study of Cloth Cutting Manipulator for Circular Weft Knitting Machine

对圆纬机自动割布机械手进行设计与研究,自主研发一种以SCARA机器人为基础的水平关节机械手。在SolidWorks软件中对机械手进行设计建模和优化,利用ANSYS软件对大臂进行静力学分析;采用D-H算法建立割布机械手运动学方程,得出末端位置正反解;利用SolidWorks软件生成二维图纸进行加工装配,搭建圆纬机割布机械手装置;根据割布工作要求,设计自动割布机械手控制系统;进行割布成功率与切口质量试验。结果表明:在一条布或两条布工况下,该圆纬机割布机械手割布成功率达100%,割布时间缩小到6 s,切口质量相比手工更平整,成本更低,自动化程度高,完全可以替代人工,具有良好应用价值。

The automatic cloth cutting manipulator for circular weft knitting machine was designed and studied,and a horizontal joint manipulator based on SCARA robot was independently developed.The manipulator was designed,modeled and optimized in SolidWorks software,and the large arm was statically analyzed by ANSYS software,the kinematic equation of the cloth cutting manipulator was established by using D-H algorithm,and the positive and negative solutions of the end position were obtained,two-dimensional drawings were generated by SolidWorks software for machining and assembly,and the cloth cutting manipulator device of circular weft knitting machine was successfully built;according to the working requirements of cloth cutting,the control system of automatic cloth cutting manipulator was designed,the experiments of cloth cutting success rate and cutting quality were carried out.The results show that under the condition of one cloth or two cloths,the success rate of cloth cutting can reach 100%,the cloth cutting time can be reduced to 6 s,the cutting quality is smoother than manual with lower cost,which can completely replace manual work with good practical application value.