图1 末端执行器整体结构1.法兰连接座2.第二驱动气缸　3.连接筒　4.基座5.顶部铰接座6.顶部连接板　7.固定杆　8.压板9.第一驱动气缸10.铰接支件　11.底部铰接座12.L形支件13.底部连接板　14.导杆　15.滑块　16.夹持板

Fig.1 Overall structure of the end effector

图2 底部夹持机构三维模型1.底部连接板2.滑块　3.导杆　4.夹持板

Fig.2 3D Model of the bottom clamping mechanism

图3 顶部压持机构三维模型1.底部铰接座2.固定杆　3.压板　4.顶部连接板

Fig.3 3D Model of the top pressing mechanism

图4 支撑机构三维模型1.L形支件2.铰接支件　3.基座　4.连接筒

Fig.4 3D Model of the supporting mechanism

图5 法兰连接机构三维模型

Fig.5 3D Model of the flange connection mechanism

图6 毛坯锻件背面朝上时的夹持步骤

Fig.6 Clamping procedure for the forging blank with the back side facing up

图7 毛坯锻件正面朝上时的夹持步骤

Fig.7 Clamping procedure for the forging blank with the front side facing up

图8 设置完毕的整体仿真模型

Fig.8 Configured simulation model

图9 第一驱动气缸推杆在Z向的运动仿真曲线

Fig.9 Simulation curve of the first actuating cylinder rod movement along the Z-axis

图10 第二驱动气缸推杆在Z向的运动仿真曲线

Fig.10 Simulation curve of the second actuating cylinder rod movement along the Z-axis

图11 夹持板沿X向的运动仿真曲线

Fig.11 Simulation curves of the two clamping plates moving along the X-axis

图12 压板在Y向的运动仿真曲线

Fig.12 Simulation curve of the pressing plate moving along the Y-axis

图13 毛坯锻件在X向、Y向的运动仿真曲线

Fig.13 Simulation curves of the forging blank moving along the X and Y axes

图14 第一驱动气缸推力的力学曲线

Fig.14 Mechanical curve of the thrust force of the first actuating cylinder

图15 第二驱动气缸推力的力学曲线

Fig.15 Mechanical curve of the thrust force of the second actuating cylinder

图16 调整后的驱动气缸在Z轴上的运动仿真曲线

Fig.16 Adjusted Simulation curves of actuating cylinder moving along the Z-axis

图17 底部支撑结构的总形变云图

Fig.17 Total deformation cloud diagram of the bottom supporting structure

图18 底部支撑结构的等效应变云图

Fig.18 Equivalent strain cloud diagram of the bottom supporting structure

图19 底部支撑结构的最大等效应力

Fig.19 Maximum equivalent stress of the bottom supporting structure

图20 夹持板的总形变云图

Fig.20 Total deformation cloud diagram of the clamping plate

图21 夹持板的等效应变图

Fig.21 Equivalent strain diagram of the clamping plate

图22 夹持板的等效应力图

Fig.22 Equivalent stress diagram of the clamping plate

图23 顶部压持机构的总形变云图

Fig.23 Total deformation cloud diagram of the top pressing mechanism

图24 顶部压持机构的等效应变图

Fig.24 Equivalent strain diagram of the top pressing mechanism

图25 顶部压持机构的等效应力图

Fig.25 Equivalent stress diagram of the top pressing mechanism

图26 气动控制系统硬件连接图

Fig.26 Hardware connection diagram of the pneumatic control system

图27 SB1闭合时第一气缸的联动仿真结果

Fig.27 Co-simulation result of cylinder 1 when SB1 is activated

图28 SB2闭合第一气缸的联动仿真结果

Fig.28 Co-simulation result of cylinder 1 when SB2 is activated

图29 不同倾斜角度抓取锻件

Fig.29 Grasping forgings at different inclination angles

图30 不同旋转角度抓取锻件

Fig.30 Grasping forgings at different rotation angles