摘要
机械手爪是机械手执行机构中的重要部件,其性能的优劣将直接影响到整个系统的作用和效率。为了分析机械手爪抓取易碎物体时的运行机理,以SMC公司MHZ系列气动手爪为例,阐述了气动手爪的结构及工作原理,分析了气动手爪的运动方程,推算了系统的传递函数,建立了系统的AMESim仿真模型,并对系统进行了仿真分析及校正,结果表明设计是正确合理的。
The capability of Mechanical fingers, which are the important assembly in manipulator, will influences directly on the effect and efficiency of system. For analyzing its working mechanism when the mechanical fingers for case of MHZ pneumatic finger of SMC company grab breakable objects, the structure and working theory of pneumatic fmger is expatiated, the equation of motion is analyzed, the AMESim simulation model of system is established on base of its transfer function, then the system if simulated and revised, the result indicates the design is right and reasonable.
出处
《机械》
2009年第8期23-26,32,共5页
Machinery
