摘要
为了实现抓取肉块且保持肉块纹理方向相对机械手不发生改变,结合螺旋传动与刚柔混合原理设计出一种结构更简单、通用性更强的末端执行器。首先分析肉块抓取的运动特征,设计肉块分拣机械手的机械结构,采用Solidworks软件建立肉块分拣机械手的三维模型,然后进行差齿齿轮最优齿数分析。利用Adams软件对导入的肉块分拣机械手三维模型进行动力学仿真分析,直观地表达了该肉块分拣机械手工作的动态特性;最后通过原理样机的制作和实验平台的搭建对理论模型进行验证,证明了结构模型的合理性。实验结果表明该机械手能实现期望的抓取,并且具有控制简单可靠、抓取稳定、肉块相对静止等特点。
In order to grasp the meat pieces and keep the texture direction of the meat pieces unchanged relative to the manipulator,a versatile end effector with a simpler structure is designed by combining the principle of spiral transmission and rigid-flexible mixing.First,the movement characteristics of the meat piece grabbing are analyzed,and the mechanical structure of the meat piece sorting manipulator is designed.Solidworks software is used to establish the three-dimensional model of the meat piece sorting manipulator,and then the optimal number of teeth of the differential gear is analyzed.Adams software is used to perform dynamic simulation analysis on the imported meat sorting manipulator 3 D model,which intuitively expresses the dynamic characteristics of the meat sorting manipulator.Finally,the theoretical model is verified by the production of the principle prototype and the construction of the experimental platform,which proved the rationality of the structural model.The experimental results show that the manipulator can achieve the desired grasping,and has the characteristics of simple and reliable control,stable grasping,and relatively static meat position.
作者
吴志
宁萌
颜大千
刘强龙
杨彧涵
WU Zhi;NING Meng;YAN Daqian;LIU Qianglong;YANG Yuhan(School of Mechanical Engineering,Jiangnan University,Wuxi Jiangsu 214122,China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Wuxi 214122,China)
出处
《机械设计与研究》
CSCD
北大核心
2022年第2期97-100,119,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(51705201)
2018年中国博士后科学基金第63批面上项目(2018M630515)
江苏省大学生创新创业训练计划资助项目(202010295085E)。
关键词
肉块纹理
刚柔混合
分拣机械手
实验验证
meat texture
rigid and soft blend
sorting manipulator
experimental verification
