• 河北科技大学学报 , 2014,Vol.35(5)
  • 六自由度装配机械手设计及运动学求解
  • 王 雷12    刘志虎12    李 震1    林鹏雄3   
  • 安徽工程大学先进数控和伺服驱动技术安徽省重点实验室, 安徽芜湖 241000;
  • 安徽工程大学机械与汽车工程学院, 安徽芜湖 241000;
  • 牧田(中国)有限公司, 江苏昆山 215300
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摘要:

结合对自动化装配线的应用对象,选定了机械手所要实现的功能。首先,给出了装配机械手的总体方案,总体方案包括机械手本体组成和自由度的分配。确定了机械手各杆臂长度以及各关节的转角范围。其次,对六自由度机械手具体结构进行了建模、虚拟装配,并对部分关键零件进行强度校核。然后,建立了六自由度机械手的运动模型,利用D-H参数法建立了运动模型的各个关节的坐标,并确定各关节的D-H参数,利用Matlab软件对机械手的运动学正解、逆解进行了计算与验算,结果表明了所建立模型的正确性与合理性。其设计理念对以后关节型工业机械手的设计有一定的参考和应用价值。

关键词: 六自由度装配机械手   建模   运动学建模   虚拟装配  

基金:

国家自然科学基金(51305001,51175262); 安徽省自然科学基金(1208085QE94,1308085ME78); 国家级大学生创新创业训练计划项目(201210363139); 省级大学生创新创业训练计划项目(AH201310363277)

 

 

Design and kinematics solution of 6-DOF assembly manipulator

WANG Lei   LIU Zhihu   LI Zhen   LIN Pengxiong  

Anhui Key Laboratory of Advanced Numerical Control and Servo Technology, Anhui Polytechnic University, Wuhu Anhui 241000, China;   School of Mechanical and Automotive Engineering, Anhui Polytechnic University, Wuhu Anhui 241000, China;   Makita China Company Limited, Kunshan Jiangsu 215300, China  

Abstract:

The joint based manipulator has received growing attention by designers and users owing to its wider tasking area, flexibility of movement and compact construction features. Considering the application of automatic assembly line, the required functions of manipulator are selected. Firstly, the overall designing scheme of the assembly manipulator is given, and the overall scheme includes the main components of assembly manipulator and allcation degrees of freedom. The jib length of industrial manipulator and the angle rang of each joint are determined. And then, the specific structure of 6-DOF manipulator is designed, modeled and virtually assemblied. Meanwhile, the strength of some key parts is also checked.Finally, the kinematic model of the 6-DOF manipulator is established. Each joint motion model coordinate is established by using D-H parameter, and D-H parameters of each joint are determined. The kinematics normal and inverse solutions of the assembly manipulator are calculated and checked by using Matlab, and the results show that the established model is reasonable and correct. The design philosophy has some reference and application value for designing the joint industrial manipulator.

Keywords: modeling   virtual assembling   six degree of freedom assembly manipulator   kinematic modeling