家用电器门开关耐久性测试装置的研究与应用
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摘要
针对国标关于家用电器门开关耐久性试验的规定,设计了一种基于平面二连杆机械手的测控装置。通过三点示教定轨迹法获取了门轴的位置信息及圆弧运动的精确轨迹,分析了机械手的正逆运动学,得到了运动过程中机械手的位置和运动状态,以及各连杆轴的转动角度。试验证明了这种二连杆机械手可很好地模仿人对家用电器门开关的反复动作,适合对家用电器门开关的耐久性试验。
According to the regulations on the durability test of household appliance's door switch issued by the state,a device of measuring and controlling based on the plane two-link manipulator is developed. The information on the location of hinges and the exact trajectory of arc motions are obtained with the aid of the-point teaching method. The analysis is conducted on the manipulator's forward and inverse kinematics. The information on the position and motion state of the manipulator when it is moving and the rotation angle of each joint are identified. The results show that the two-link manipulator device does well in imitating the human's motions of door opening and switching repeatedly,which is suitable for the durability test of household appliance's door switch.
According to the regulations on the durability test of household appliance's door switch issued by the state,a device of measuring and controlling based on the plane two-link manipulator is developed. The information on the location of hinges and the exact trajectory of arc motions are obtained with the aid of the-point teaching method. The analysis is conducted on the manipulator's forward and inverse kinematics. The information on the position and motion state of the manipulator when it is moving and the rotation angle of each joint are identified. The results show that the two-link manipulator device does well in imitating the human's motions of door opening and switching repeatedly,which is suitable for the durability test of household appliance's door switch.
引文
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[2]李蕊,张明路,孙凌宇.柔性机械手动力学研究进展[J].机械设计,2013,30(1):1-5.
[3]王新杰,范国峰,王才东. 3自由度并联机器人运动学标定方法研究[J].机械设计,2017,34(12):76-81.
[4]杨玉维,张明路,崔峰. 4自由度轮式悬架移动机械手动力学研究与仿真[J].机械设计,2009,26(4):35-41.
[5]刘剑平,施劲松,曹宵临.线性代数[M].上海:华东理工出版社,2003.
[6]魏巍.机器人技术入门[M].北京:化学工业出版社,2014.
[7] Ge S S, Hang C C, Woon L C. Adaptive neural network control of robot manipulators in task space[J]. IEEE Transactions on Industrial Electronics, 1997,44(6):746-752.
[8]申铁龙.机器人鲁棒控制基础[M].北京:清华大学出版社,2004.
[9]陈恳,杨向东.机器人技术与应用[M].北京:清华大学出版社,2006.