摘要
针对机械夹爪驱动盘运动轨迹平滑性设计问题,提出转盘类时间指数的高次多项式与一次旋转方程相融合的方法。在平面坐标系中对时间类指数高次多项式函数进行参数矩阵(基圆半径、联动圆盘类时间指数、运动行程角、运动行程)设定。将平面坐标系中相关高次多项式离散点带入旋转坐标系中实现偏转,得到高次旋转多项式轨迹方程。采用一次到八次多项式分别对机械夹爪驱动盘运动轨迹曲线的位移、类速度、类加速度、类超加速度进行分析,得知二次以上旋转多项式的机械夹爪驱动盘运动轨迹基本处于平滑状态。实验证明:机械夹爪驱动盘运动的平稳性与次数有关。
For the smoothness design of the mechanical gripper drive disc with the motion trajectory,a method of integrating the high-order polynomial of the turntable index with the primary rotation equation was proposed.The parameter matrix(base circle radius,linkage disk class time index,motion formation angle,motion formation) was set for the time class exponential high-order polynomial function in the plane coordinate system.The correlation high-order polynomial discrete point matrix was brought into the rotating coordinate system to achieve deflection in the plane coordinate system,and the high-degree rotation polynomial trajectory equation was obtained.The displacement,quasi-velocity,acceleration-like and super-acceleration of the motion trajectory curve of the mechanical gripper drive disc were analyzed from one to eight times,reaching a smooth state of the motion trajectory of the mechanical gripper drive disc of the polynomial of more than two rotations.The experiments show that the smoothness of the mechanical gripper drive disc movement is related to the number of times.
作者
巨刚
罗云秋
JU Gang;LUO Yunqiu(Hangzhou Puyu Science and Technology Development Co.,Ltd.,Hangzhou 311305,China;Zhejiang Qinke Mass Spectrometer Innovation Co.,Ltd.,Hangzhou 311305,China;Concentrating Technology Hangzhou Co.,Ltd.,Hangzhou 310056,China)
出处
《机械制造与自动化》
2024年第2期83-86,共4页
Machine Building & Automation
关键词
机械夹爪
高次多项函数
旋转矩阵
类时间指数
mechanical gripper
high-order polynomial function
rotation matrix
class time index
