一种针对圆锥体外表面贴装的机械手设计分析与优化

doi:10.3969/j.issn.1004-132X.2023.01.007

中国机械工程 ›› 2023, Vol. 34 ›› Issue (01): 55-64.DOI: 10.3969/j.issn.1004-132X.2023.01.007

一种针对圆锥体外表面贴装的机械手设计分析与优化

何宇凡1;孙江宏1,2;高锋1;李乃峥1;何雪萍3;王军见4

1.北京信息科技大学机电工程学院，北京，100192
2.清华大学机械电子工程研究所，北京，100084
3.中国机械科学研究总院集团，北京，100044
4.国家机床质量监督检测中心，北京，100102

出版日期:2023-01-10 发布日期:2023-02-02
通讯作者: 孙江宏(通信作者)，男，1971年生，教授。研究方向为机器人学、机构学。E-mail：278796059@qq.com。
作者简介:何宇凡，男，1997年生，硕士研究生。研究方向为机器人学、机构学。E-mail：yufan_he@bjtu.edu.cn。
基金资助:
国家重大科学仪器专项(2014YQ24044504)；2019年产业技术基础公共服务平台项目(0714EMTC000898)

Design,Analysis and Optimization of a Cone External Surface Mounting Manipulator

HE Yufan1;SUN Jianghong1,2;GAO Feng1;LI Naizheng1;HE Xueping3;WANG Junjian4

1.School of Mechanical Electrical Engineering,Beijing Information Science & Technology University,Beijing,100192
2.Institute of Mechatronic Engineering,Tsinghua University,Beijing,100084
3.China Academy of Machinery Science and Technology Group,Beijing,100044
4.China National Machine Tool Quality Supervision Testing Center,Beijing,100102

Online:2023-01-10 Published:2023-02-02

摘要/Abstract

摘要： 针对圆锥体外表面贴装工作设计了一种串联式机械臂末端机械手。对圆锥体进行空间分析，根据圆锥体几何特征确定贴装技术方案并进行构型设计。完成机械手结构设计，利用拉格朗日法推导动力学方程，利用D-H法对正逆运动学进行求解。利用遗传算法NSGA-Ⅱ对执行器高负载零部件进行结构尺寸优化并对优化前后零部件进行有限元分析对比。通过虚拟样机、样机动态实验结果对比验证设计机械手的可行性，并分析了外界影响因素，最终证明设计的机械手可行并为其后续改进提供了方向。

关键词: 贴装机械手, 运动学分析, 动力学分析, 结构优化

Abstract: A series manipulator end-effector was designed for cone surface mounting. Firstly, the space analysis of the cone was carried out. According to the geometric characteristics of the cone, the mounting technology scheme was determined and the configuration design was obtained. Secondly, the structural design of the manipulator was completed. Lagrange method was used to derive the dynamics equation, and D-H method was used to solve the forward and inverse kinematics. Then, NSGA-Ⅱ genetic algorithm was used to optimize the structural dimensions of the high-load parts of the actuator, and the finite element analysis of the parts before and after optimization was compared. Finally, the feasibility of manipulator was verified by comparing the results of virtual prototype and prototype dynamic experiments, and the external influence factors were analyzed. The feasibility of manipulator was proved and the direction for the subsequent improvements was provided.

Key words: , mounting manipulator, kinematics analysis, dynamics analysis, structure optimization

中图分类号:

TH122

何宇凡, 孙江宏, 高锋, 李乃峥, 何雪萍, 王军见. 一种针对圆锥体外表面贴装的机械手设计分析与优化[J]. 中国机械工程, 2023, 34(01): 55-64.

HE Yufan, SUN Jianghong, GAO Feng, LI Naizheng, HE Xueping, WANG Junjian. Design,Analysis and Optimization of a Cone External Surface Mounting Manipulator[J]. China Mechanical Engineering, 2023, 34(01): 55-64.

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一种针对圆锥体外表面贴装的机械手设计分析与优化

Design,Analysis and Optimization of a Cone External Surface Mounting Manipulator

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