摘要
以弧面凸轮机构为基础,设计双弧面凸轮式步进驱动型机械手来实现机械手输出执行件"提升—前进—下降—后退"的步进运动。根据机械手输出的目标循环动作,设计运动循环图。利用Creo3.0建立双弧面凸轮式步进驱动型机械手的数字化样机,最后基于ADAMS进行运动学仿真分析,输出执行件的位移、速度、加速度以及碰撞力与碰撞力矩的曲线,验证了设计结果的正确性。
Based on the theory of globoidal cam mechanism,the double globoidal cam-type stepping-driven manipulator is designed to realize the step-by-step movement of the actuator output ＂lifting,forward,falling,retreating＂.According to the target rotation of the robot output, design the motion cycle diagram.Finally,the kinematic simulation analysis based on ADAMS,the displacement of the actuator,the velocity,the acceleration curve and the curve of the collision force and the collision torque were analyzed by using Creo3.0to build the digital prototype of the double globoidal cam-type stepping-driven manipulator.To verify the correctness of the design results.
出处
《食品与机械》
CSCD
北大核心
2017年第7期73-76,共4页
Food and Machinery
基金
西安市科技计划项目(编号:CXY1431﹝3﹞)
陕西省教育厅服务地方专项计划项目(编号:15JF010)
