中国机械工程Issue(3)：387-390,412,5.DOI:10.3969/j.issn.1004-132X.2016.03.019
修边机器人的夹紧机构优化设计及运动分析
Optimized Design and Kinematic Analysis of Clamping Mechanism for Trimming Robot
摘要
Abstract
The optimum design of clamping mechanism for a trimming robot was conducted herein. The optimized design model of clamping mechanism was established by analyzing its composition prin-ciples,maximizing its working radius as the optimization target and considering the position of each revolute pair,weight of support base,extreme positions,range of working radius,kinematic stability of pressure rod,stroke of drive rod as the constraints.In the model validation experiments,a round plastic product with clamping diameter of 40 cm was choosed as the processed sample,the results of kinematic analysis of clamping mechanism show the curves of the displacement change of pressure rod,the ratio change between the pressure rod speed and driving rod speed caused by the displacement changes of drive rod.Finally,the velocity curve of driving rod was planned.Simulation experiments indicate that the results of optimization and kinematic analysis meet the design requirements,and this paper provides an important reference value to the optimized design and automatic control of trimming robot.关键词
修边机器人/夹紧机构/优化设计/运动分析Key words
trimming robot/clamping mechanism/optimized design/kinematic analysis分类
机械制造引用本文复制引用
李峰平,张正亚,周斯加..修边机器人的夹紧机构优化设计及运动分析[J].中国机械工程,2016,(3):387-390,412,5.基金项目
国家国际科技合作专项(0S2012ZR0038) （0S2012ZR0038）
国家自然科学基金资助项目(71101112) （71101112）
