[1]王俊强,管声启,李振浩,等.面向酒坛抓取的仿生机械手的结构设计与分析[J].机械与电子,2022,(06):57-61.
　WANG Junqiang,GUAN Shengqi,LI Zhenhao,et al.Structural Design and Analysis of a Bionic Manipulator for Grabbing Wine Jars[J].Machinery & Electronics,2022,(06):57-61.
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面向酒坛抓取的仿生机械手的结构设计与分析()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2022年06期
页码:
57-61
栏目:
自动控制与检测
出版日期:
2022-06-24

文章信息/Info

Title:
Structural Design and Analysis of a Bionic Manipulator for Grabbing Wine Jars
文章编号:
1001-2257(2022)06-0057-05
作者:
王俊强 1; 2 ; 管声启 1; 2 ; 李振浩 1; 2 ; 于资江 1 ; 王静国 1 ; 刘文慧 1; 2
1. 西安工程大学机电工程学院,陕西 西安 710048;2. 绍兴市柯桥区西纺纺织产业创新研究院,浙江 绍兴 312030
Author(s):
WANG Junqiang 1; 2 ; GUAN Shengqi 1; 2 ; LI Zhenhao 1; 2 ; YU Zijiang 1 ; WANG Jingguo 1 ; LIU Wenhui 1; 2
(1. School of Mechanical and Electrical Engineering,Xi’an Polytechnic University,Xi’an 710048,China;2. Shaoxing Keqiao West-Tex Textile Industry Innovative Institute,Shaoxing 312030,China)
关键词:
仿生机械手; 欠驱动; 自适应; 运动学; 运动仿真
Keywords:
bionic manipulator; under actuated; adaptive; kinematics; motion simulation
分类号:
TP241
文献标志码:
A
摘要:
针对目前坛装酒生产企业中对酒坛的包装、码垛、泥封等工作任务都是由工人独立完成,存在生产效率低、劳动强度大等特点,设计一种基于仿生学原理的仿生机械手代替人工完成对酒坛的抓取并完成相应的生产工作。 首先,基于酒坛的抓取要求,采用模块化的思想进行确定仿生机械手的抓取方案;然后,利用 SolidWorks 软件建立仿生机械手模型,并建立相应的运动学方程;最后,应用MATLAB 软件对机械手整体模型进行运动仿真分析,以验证机械手抓取酒坛的可行性与稳定性。 实验结果表明,机械手的设计合理,满足实际生产需求,为酒坛抓取提供了一种可行的抓取装置。
Abstract:
Aiming at the problem that the work such as packaging,palletizing and mud sealing of the wine jars in the current jars of wine production enterprises is completed by the workers independently,which has the characteristics of low production efficiency and high labor intensity,a bionic manipulator based on the principle of bionics is designed to replace the manual grabbing of the wine jar and complete the corresponding production work. First of all,based on the grabbing requirements of the wine jar,the idea of modularization is used to determine the grabbing plan of the bionic manipulator;then,the SolidWorks software is used to establish the bionic manipulator model and the corresponding kinematics equations;finally,the MATLAB software is used to simulate the whole model of manipulator to verify the feasibility and stability of grabbingwine jar by manipulator. The experimental results show that the design of the manipulator is rational,meets the actual production requirements,and provides a feasible grabbing device for grabbing wine jars.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2022-01-06
基金项目:西安市创新能力强基计划 人工智能技术攻关项目(21RGZN0021);绍兴市柯桥区西纺纺织产业创新研究院 2019 年度产学研协同创新项目(19KQYB15)
作者简介:王俊强 (1997-),男,陕西渭南人,硕士研究生,研究方向为末端执行器结构设计;管声启 (1971-),男,安徽安庆人,教授,硕士研究生导师,研究方向为机器人视觉。
更新日期/Last Update: 2022-06-24