六自由度搬运机械手轨迹规划及刚柔耦合运动分析

Trajectory planning and rigid flexible coupling motion analysis of 6-DOF handling manipulator

针对零部件加工生产时多工序流水作业带来的高强度劳动问题,提出了一种基于自动搬运机械手的解决方案,以完成特定的工作要求。结合实际工况对机械手进行Creo三维模型建立,同时利用萨哈D-H坐标法建立运动学方程,求解出机械手末端轨迹的位姿,再借助ADAMS和HyperMesh完成对机械手的轨迹规划及刚柔耦合运动分析,完成机械手的运动参数设置及关键部件强度分析,验证了设计的合理性,为机械手的轨迹规划及设计提供了重要参考。

Aiming at the problem of high-intensity labor operation caused by multi process flow operation in parts processing and production,a solution of automatic handling manipulator is proposed in order to complete specific work requirements.Combined with the needs of actual working conditions,3D model of manipulator is established by Creo.At the same time,the motion equation is established by Saha D-H coordinate method,and the pose of the manipulator end trajectory is solved.Then,with the help of ADAMS and HyperMesh,the trajectory planning and rigid flexible coupling motion analysis of the manipulator are completed,the motion parameters of the manipulator and the strength analysis of key components are completed,and the rationality of the design is verified.It provides an important reference for trajectory planning and design of manipulator.