摘要
针对项目需求提出的夹爪平行开合夹紧工件、夹紧力可控、夹紧开合位置可控等特点,基于平行四边形机构与螺旋副的特性,提出了一种轻量化、大负载的电动机械夹爪的设计方案。针对三种不同夹取状态,建立了机械夹爪夹紧力的显性解析式,并借助有限元分析软件针对所需夹紧力最大的工况进行了模拟仿真,理论结果与仿真结果得到相互验证。最后搭建了工作样机并进行了试验研究,试验研究表明,该机械夹爪能够夹紧不同直径及重量的工件进行提升与翻转动作,满足了设计要求。
Based on the characteristics of parallel quadrangle mechanism and screw pair,a lightweight and heavy-load electromechanical clamping scheme was put forward,which was characterized by parallel opening and closing of clamping workpiece,controllable clamping force and controllable clamping position.For three different clamping states,explicit analytical formulas of clamping force of mechanical clamping jaw were established,and simulation was carried out with finite element analysis software for the conditions under which the maximum clamping force was required.The theoretical results and simulation results were mutually verified.Lastly,a working prototype was built and an experimental study was carried out.The experimental study shows that the electromechanical gripper can clamp workpieces with different diameters and weights for lifting and turning,which meets the design requirements.
作者
任文博
颜兵兵
毕冉
任国宝
REN Wenbo;YAN Bingbing;BI Ran;REN Guobao(Harbin Welding Institute Co.,Ltd.,Harbin 150028,China;School of Mechanical Engineering,Jiamusi University,Jiamusi Heilongjiang 154007,China;Harbin Sagebot Intelligent Medical Equipment Co.,Ltd.,Harbin 150060,China)
出处
《佳木斯大学学报（自然科学版）》
CAS
2023年第5期76-79,158,共5页
Journal of Jiamusi University：Natural Science Edition
基金
黑龙江省省属高等学校基本科研业务费科研项目(2021-KYYWF-0562)
黑龙江省高等教育本科教育教学改革研究重点委托项目(SJGZ20220123)。
关键词
电动机械夹爪
力学分析
仿真模拟
试验验证
electromechanical gripper
mechanical analysis
analogue simulation
test verification
作者简介
任文博(1991-),男,黑龙江哈尔滨人,机械工程师,硕士,研究方向:机器人技术;通讯作者:颜兵兵(1976-),男,黑龙江佳木斯人,教授/硕导,博士,研究方向:智能机器人技术。
