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针对水泥装载行业的实际需要,设计开发一种袋装水泥自动装车机。提出一种结构简单、驱动部件少、控制容易的装车机械手。介绍了串并混联式的自动装车机整体设计方案和基于并联机构的装车机械手基本结构组成,建立了机械手运动学模型,得出位置、速度及加速度的运动学逆解解析式。在机械手末端运动轨迹规划的基础上,将运动学导入Matlab软件进行运动仿真计算,绘制出机构的位置、速度及加速度的变化曲线,为机械手机构的机械设计和优化、驱动伺服电机的选型提供参考。
For the actual needs of the cement loading industry, design and development of a bagged cement automatic loading machine. A loading robot with simple structure, few driving parts and easy control is put forward. The overall design scheme of serial and parallel automatic loader was introduced and the basic structure of loading robot based on parallel mechanism was introduced. The kinematic model of robot was established, and the kinematic inverse solution of position, velocity and acceleration was obtained. Based on the trajectory planning of manipulator end, kinematics is introduced into Matlab software for motion simulation, and the change curve of the position, velocity and acceleration of mechanism is plotted, which provides the mechanical design and optimization of manipulator mechanism and the selection of drive servo motor reference.