多工位送料机械手的机构设计及速度规划

Mechanism design and speed planning on multi-station feeding manipulator

为了实现动力电池壳冲压生产线的自动化生产,在多工位拉伸压力机的基础上设计了送料机械手的机械结构,该机械手采用桁架式结构,通过X、Y、Z这3个方向的自由度上的直线运动模块来实现夹紧-张开、升举-下降和移送-回退3个动作,规划了机械手的运动周期,并在正弦速度规划算法的基础上设计了一种加加速度连续的4阶S型曲线速度控制算法,避免了机械手在运动中发生过大冲击。最终建立了机械手刚柔耦合动力学模型,通过对机械手刚柔耦合运动特性分析,研究了速度优化算法对机械手运动精度的影响,研究结果表明,在速度优化算法控制下,运动振幅明显减小,满足设计要求。

In order to realize the automatic production of power battery shell stamping production line,the mechanical structure of feeding manipulator was designed on the basis of multi-station stretching press,which adept a truss structure to realize the three movements of clamping-opening,lifting-falling and transferring-returning by the linear motion module in three degrees of freedom of X,Y and Z directions,and the motion cycle of manipulator was planned.Then,based on the sinusoidal velocity planning algorithm,a four-order S-shaped curve speed control algorithm with continuous jerk was designed to avoid the excessive impact of manipulator in motion.Finally,the rigid-flexible coupling dynamic model of manipulator was established,and the influence of speed optimization algorithm on the motion accuracy of manipulator was researched by analyzing the rigid-flexible coupling motion characteristics of manipulator.The research results show that under the control of speed optimization algorithm,the amplitude of motion is obviously reduced,which meets the design requirements.