三自由度索绪机械臂设计与试验

Design and testing of three-degree-of-freedom robot arm for cocoon brushing

为解决目前纤维检验机构使用的索绪装置因长时间使用导致维修困难、无法调节运动速度和轨迹的问题,设计了一种三自由度索绪机械臂。首先,设计了索绪机械臂的机械结构,机械臂由提升关节、摆动关节、旋转关节和末端执行器组成,3个旋转关节对应3个自由度;其次,根据D-H法建立机械臂的运动学模型,求得运动学方程的正解,并运用拉格朗日功能平衡法进行动力学分析;然后,使用ADAMS进行动力学仿真,得到关节电动机所需的力矩值;最后,设计系统控制方案,搭建索绪机械臂试验样机进行功能测试。测试结果表明,该机械臂可根据现场情况调节运动速度和轨迹,为索绪装置的结构改进提供了一种新思路。

A three-degree-of-freedom cocoon brushing robot arm is designed to solve the problem that the current cocoon brushing devices used by fiber inspection organisations are difficult to maintain and cannot be adjusted in terms of speed and trajectory due to their long service life.Firstly,the mechanical structure of the cocoon brushing robot arm is designed.The arm consists of a lifting joint,a swing joint,a rotating joint and an end-effector,with three rotating joints corresponding to three degrees of freedom;Secondly,the kinematic model of the arm is established according to the D-H method,the positive solution of the kinematic equations is obtained,and the Lagrangian functional equilibrium method is applied to carry out the dynamics analysis;Then,dynamics simulations are performed using ADAMS to obtain the required torque values for the joint motor;Finally,the system control scheme is designed and the experimental prototype of the cocoon brushing robot arm is built for functional testing.The test results show that the robot arm can adjust the movement speed and trajectory according to the field conditions,which provides a new idea for the structural improvement of the cocoon brushing device.