纺织工程学报2024，Vol.2Issue(2)：28-39,12.
基于ADAMS的纱筒换料抓取机械臂力学特性分析与仿真
Mechanical characterization and simulation of yarn cylinder changing with robot gripping arm based on ADAMS
摘要
Abstract
The use of robotic arms instead of manual labor to complete the task of changing yarn cylinders in large-scale weaving machine workshops can reduce enterprises'labor costs and improve production efficiency.However,traditional robotic arms are usually fixed to the ground,restricting their operating area and leading to low utilization rates.Thus,this paper designs a basic configuration of intelligent equipment for automatic yarn cylinder material changing,which combines an AGV cart and a six-degree-of-freedom robotic gripping arm.It also proposes motion planning for autonomous yarn cylinder material changing operations,offering greater flexi-bility compared to traditional methods.In the process of gripping the yarn cylinder with the robotic arm,there is force contact between them,and controlling the gripping force is crucial to completing the operation.Based on this,this paper combines the traditional Lagrangian method with the influence of nonlinear damping force and nonlinear elastic force to derive the kinetic equations of the six degrees of freedom robotic arm.The ADAMS software is then utilized to establish a dynamics simulation model for the six degrees of freedom yarn cylinder changing with robotic gripping arm.Through kinetic simulation,the operation process is simulated,and post-processing functions are used to obtain mechanical curves for each joint to verify the reliability of the robotic arm's gripping mechanism.The simulation results indicate that during the operation process of the six-degree-of-freedom gripping manipulator for spool material replacement,the maximum displacement of a single joint is ap-proximately 1.3 meters,and the maximum motion speed is 0.4 meters per second.This is sufficient to meet the production needs of spool material replacement in weaving machine workshops.During the transition between motion stages,the change in joint acceleration remains generally around 0.05 m/s2,ensuring stable force and re-liable gripping and material replacement.This has important theoretical reference value for enterprises to im-prove automation and achieve high-quality development.关键词
纺织车间/纱筒换料/抓取机械臂/拉格朗日方程/动力学特性Key words
textile workshop/cylinder change/gripper arm/Lagrange equation/dynamic properties分类
信息技术与安全科学引用本文复制引用
林先晶,戴程浩,江维,彭思远,陈振..基于ADAMS的纱筒换料抓取机械臂力学特性分析与仿真[J].纺织工程学报,2024,2(2):28-39,12.基金项目
数字化纺织装备湖北省重点实验室开放课题资助项目(DTL2023013). （DTL2023013）
