| 摘要: |
| 目的 为移动平台设计一种新型抓取机构以完成生产线上货物的搬运装箱， 并对该机构的性能进行优化设计。方法 通过使用三维建模软件和动力学仿真 ADAMS 软件， 对抓取机构进行参数化优化设计， 得到抓取机构的运动规律和曲线， 对其中的关键影响因素进行参数化优化仿真分析。结果 优化结果表明， 抓取时间每增加0.2 s， 货物与离合爪的接触力降低10 N左右， 且货物与离合爪之间的接触力在75 N左右波动。合理的控制抓取时间、 货物的速度和刚度系数可以有效地提高抓取机构的平稳性。结论 通过仿真分析， 得到了相对最佳、 适用于快速抓取的接触力分布曲线， 在对多体机构的运动规律和优化设计的预测方面， 通过 ADAMS 软件可以提供有力的证据， 对改进设计具有参考价值。 |
| 关键词: 抓取机构 参数化 优化设计 ADAMS仿真 |
| DOI： |
| 分类号:TB486+.03 |
| 基金项目: |
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| Design Optimization for a New Cargo Grabbing Mechanism Based on ADAMS |
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WANG Sheng-hui, YANG Zhen, LI Xiang-fei, YUAN Yong-liang
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North University of China， Taiyuan 030051， China
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| Abstract: |
| A new grabbing mechanism was designed for the mobile platform for handling of packed goods in the production line, and design optimization was conducted for the performance of the mechanism. Through the use of 3D modeling software and dynamic simulation of ADAMS software, parameterization design optimization was conducted for the grabbing mechanism, to obtain the movement rule and curve for the grabbing mechanism, and simulation analysis and parameterization optimization were performed for the key influencing factors. The optimization results showed that with every 0.2 s increase in the capture time, the contact force of goods and the clutch pawl reduced by about 10 N, and the contact force between the cargo and clutch fluctuated at around 75 N. Reasonable control of grabbing time, speed and stiffness coefficient of goods could effectively improve the stability of the grabbing mechanism. Through the simulation analysis, the relatively best contact force distribution curve which was applicable for rapid grabbing was obtained. In the prediction of of the motion law and design optimization of multibody mechanism, ADAMS software could provide powerful evidence, and has reference value for design improvement in the future. |
| Key words: grabbing mechanism parameterization design optimization ADAMS simulation |
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