基于沟槽凸轮关节的交通锥回收机械臂设计及轨迹优化
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摘要
基于一种双平行四杆机构与齿轮关节串联式的交通锥回收机械臂,针对其存在的回收效率低,且固定传动比的齿轮关节难以实现最优运动轨迹的问题,采用可变传动比的沟槽凸轮关节对其进行改进设计。首先,在对机械臂进行运动分析的基础上,以最小主臂转角为优化目标,根据交通锥运动要求确定约束条件,建立运动轨迹优化模型,求得机械臂最优运动轨迹;然后,根据优化后的运动轨迹,采用解析法求解沟槽凸轮的理论轮廓线,进而得到沟槽凸轮的实际轮廓线;最后,利用Adams进行仿真验证。结果表明,交通锥回收机械臂主臂转角减小8. 1%,缩短了液压缸的工作行程,改善了液压缸的受力情况,提高了交通锥回收机械臂的工作效率。
Based on a dual parallel four-bar mechanism and gear joint series-type traffic cone recovery manipulator, which has the problem of low recovery efficiency and difficult to achieve optimal motion trajectory of fixed gear ratio joints. The grooved cam joint is used for improving design. Firstly, based on the motion analysis of the manipulator, the minimum main arm angle is taken as the optimization target, the constraint condition is determined according to the traffic cone motion requirement, the motion trajectory optimization model is established, and the optimal motion trajectory of the manipulator is obtained. Then, according to the optimized motion trajectory, the theoretical contour of the grooved cam is solved by analytical method, and then the actual contour of the grooved cam is obtained. Finally, the simulation is verified by Adams. The results show that the main arm angle of the traffic cone recovery robot arm is reduced by 8.1%, the working stroke of the hydraulic cylinder is shortened, the force of the hydraulic cylinder is improved, and the working efficiency of the traffic cone recovery robot arm is improved.
Based on a dual parallel four-bar mechanism and gear joint series-type traffic cone recovery manipulator, which has the problem of low recovery efficiency and difficult to achieve optimal motion trajectory of fixed gear ratio joints. The grooved cam joint is used for improving design. Firstly, based on the motion analysis of the manipulator, the minimum main arm angle is taken as the optimization target, the constraint condition is determined according to the traffic cone motion requirement, the motion trajectory optimization model is established, and the optimal motion trajectory of the manipulator is obtained. Then, according to the optimized motion trajectory, the theoretical contour of the grooved cam is solved by analytical method, and then the actual contour of the grooved cam is obtained. Finally, the simulation is verified by Adams. The results show that the main arm angle of the traffic cone recovery robot arm is reduced by 8.1%, the working stroke of the hydraulic cylinder is shortened, the force of the hydraulic cylinder is improved, and the working efficiency of the traffic cone recovery robot arm is improved.
引文
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[3]杨春杰.多关节机械手设计与运动学研究[D].武汉:武汉理工大学,2002:4-7.
[4]刘延杰,吴明月,王刚,等.硅片传输机器人手臂结构优化设计方法[J].机械工程学报,2015,51(1):1-9.
[5]王勇杰.多自由度机械臂结构参数优化[D].北京:北京理工大学,2016:15-21.
[6]赵匀,樊福雷,宋志超,等.反转式共轭凸轮蔬菜钵苗移栽机构的设计与仿真[J].农业工程学报,2014,30(14):8-16.
[7]李玉善,刘阳,吕安涛.交通锥回收机械手参数优化[J].机械传动,2017,41(4):85-88.
[8]叶秉良,李丽,俞高红,等.蔬菜钵苗移栽机取苗臂凸轮机构的设计与试验[J].农业工程学报,2014,30(8):21-29.
[9]吴旭,任子文.具有速度和姿态要求轨迹的凸轮连杆机构设计[J].机械设计与研究,2008,24(2):117-120.
[10]李辉,李开世,黄文权.基于SCARA机器人的凸轮机构设计[J].煤矿机械,2015,36(9):52-54.
[11]杨立新,李玉善,吕安涛,等.路锥自动布放回收车:103061283A[P].2013-04-24.
[12]方芳.基于SolidWorks的平面凸轮设计系统研究[D].成都:西南交通大学,2010:16-20.
[13]胡伟,胡国清,魏昕,等.吹瓶机中机械手凸轮曲线解析计算的研究[J].机械设计与制造,2009(4):183-185.