折臂式弃料机械手的参数优化与动态仿真分析.pdfVIP

第32 卷第2 期 机 械 设 计 Vol.32 No.2 2 0 1 5 年 2 月 JOURNAL OF MACHINE DESIGN Feb. 2015 年 月 2015 2 折臂式弃料机械手的参数优化与动态仿真分析* 宋云飞，贺利乐，李赵兴 （西安建筑科技大学机电工程学院，陕西西安710055 ） 摘要：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。 关键词：折臂式机械手；参数优化；末端操作器；动力学分析；仿真 中图分类号： 文献标识码： 文章编号： （ ） TH 112 A 1001-2354 2015 02-0051-05 DOI:10.13841/ki.jxsj.2015.02.011 Parameter optimization and dynamic simulation on folding arm manipulator for rejected material ， ， SONG Yun-fei HE Li-le LI Zhao-xing （ ， ， ） School of Mechanical and Electrical Engineer Xi′an University of Architecture and Technology Xi′an 710055 ： Abstract A folding arm manipulator for rejected material was proposed according to the demands of the coal sampling-ve- hicle system and a operation device was also designed． A mathematical model for the manipulator was built and the main struc- tural parameters were optimized． The kinetic equations of mechanism based on the momentum theorem were derived and the dynamics model was obtained． The required power of the key force position was analyzed during the mechanism operation-pro- cess． The manipulator model established in Solidworks was then imported into ADAMS to verify the spatial working point