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针对煤炭采样车提出一种折臂式弃料机械手设计方案,并设计了末端操作器。对该机械手建立数学模型,进行主要结构参数优化;基于动量矩定理建立了动力学模型,推导出机构的动力学方程,对该机构在运行过程中的关键受力位置所需动力进行理论分析;将在Solidworks中建立的机械手模型导入ADAMS中验证空间工作点,仿真分析带载情况下的运行状况,对该折臂式弃料机械手中的驱动部件选型安装有指导意义。
Aiming at the coal sampling vehicle, a kind of folding arm manipulator design scheme was proposed and the terminal manipulator was designed. The mathematical model of the manipulator is set up and the main structural parameters are optimized. The dynamic model is established based on the momentum moment theorem, the dynamic equation of the mechanism is deduced, and the power required for the key mechanical position of the mechanism is analyzed theoretically. The robot model built in Solidworks is imported into the working space of ADAMS verification space to simulate and analyze the running condition under the condition of loading, which is instructive for the selection and installation of drive components in the arm folding robot.