基于ADAMS新型钢管打捆机械手的优化设计
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摘要
新型钢管打捆机械手的应用保证了生产作业的安全性,并将废旧钢管裁剪成条状钢带用以钢管包的打捆,节约了成本,但初步设计后的打捆机械手运行时间较长,实际生产中打捆效率较差,针对上述问题,本文通过在ADAMS软件中建立的新型钢管打捆机械手模型,对其打捆时间进行优化。首先对机械手模型各关节变量进行参数化,其次建立左右两侧机械臂同步运动关系以及各关节转角函数,并对其驱动函数以及优化所需的运行时间函数进行数学建模,然后利用ADAMS中的设计计算模块对机械手优化参数进行敏感度分析并确定其取值范围,最终完成对新型钢管打捆机械手的优化设计。
The application of the new steel tube binding manipulator ensures the safety of the production,and the scrap steel tube is cut into strip steel strip to be used for bundling steel tube. Although it saves the cost,yet it operates is longer and poor efficiency. In order to solve the problems of the initially designed binding manipulator,this paper optimizes the binding time of a new steel tube binding manipulator model based on Adams software. Firstly,the model joint variables are parameterized. Secondly,the synchronous motion relation of the left and right sides manipulator and the joints rotation function are established,and the driving function and the running time function required for optimization are modeled mathematically. Then the sensitivity of optimization parameters is analyzed to determine the value range by the design and calculation module of ADAMS. Finally,the new steel tube binding manipulator is optimal designed.
The application of the new steel tube binding manipulator ensures the safety of the production,and the scrap steel tube is cut into strip steel strip to be used for bundling steel tube. Although it saves the cost,yet it operates is longer and poor efficiency. In order to solve the problems of the initially designed binding manipulator,this paper optimizes the binding time of a new steel tube binding manipulator model based on Adams software. Firstly,the model joint variables are parameterized. Secondly,the synchronous motion relation of the left and right sides manipulator and the joints rotation function are established,and the driving function and the running time function required for optimization are modeled mathematically. Then the sensitivity of optimization parameters is analyzed to determine the value range by the design and calculation module of ADAMS. Finally,the new steel tube binding manipulator is optimal designed.
引文
[1]马鲁豪,张玉华.新型钢管打捆机械手的研究与设计[D].天津:天津理工大学,2018.
[2]孙桓,陈作模,葛文杰.机械原理[M].北京:高等教育出版社,2006.
[3]余小巧.全自动钢管端面铣头机自动送料机构的优化设计[D].天津理工大学,2011.
[4]赵武云,史增录,戴飞,等. ADAMS2013基础与应用实例教程[M].北京:清华大学出版社,2015.
[5]殷凤健,梁庆华,程旭,等.基于时间最优的机械臂关节空间轨迹规划算法[J].机械设计与研究,2017,33(05):12-15.
[6]刘锡军,柴晓艳,郑帅,等.基于ADAMS的76钢管夹紧机构的优化设计[J].重型机械,2015(06):47-52.
[7]郑帅,柴晓艳,刘锡军,等.基于ADAMS的335钢管端面倒棱机自动输送机构的优化设计[J].重型机械,2015(05):63-68.
[8]柴晓艳,余小巧.406端面铣头倒棱机自动送料机构的优化设计[J].重型机械,2010(06):41-46.
[2]孙桓,陈作模,葛文杰.机械原理[M].北京:高等教育出版社,2006.
[3]余小巧.全自动钢管端面铣头机自动送料机构的优化设计[D].天津理工大学,2011.
[4]赵武云,史增录,戴飞,等. ADAMS2013基础与应用实例教程[M].北京:清华大学出版社,2015.
[5]殷凤健,梁庆华,程旭,等.基于时间最优的机械臂关节空间轨迹规划算法[J].机械设计与研究,2017,33(05):12-15.
[6]刘锡军,柴晓艳,郑帅,等.基于ADAMS的76钢管夹紧机构的优化设计[J].重型机械,2015(06):47-52.
[7]郑帅,柴晓艳,刘锡军,等.基于ADAMS的335钢管端面倒棱机自动输送机构的优化设计[J].重型机械,2015(05):63-68.
[8]柴晓艳,余小巧.406端面铣头倒棱机自动送料机构的优化设计[J].重型机械,2010(06):41-46.