五自由度液压伺服机械手研制

针对液压机械手在实际生产中存在的问题,设计了满足大功率负载搬运的高负载、高位置精度、高生产率等要求的液压机械手。该机械手采用五自由度机构设计方案,包括夹取机构、俯仰机构、推拉机构及回转机构,实现了负载多自由度的自动定位、夹紧和传递功能,通过机械手正运动学的分析,及末端执行器运动轨迹的仿真试验验证了设计的合理性;设计了机械手液压系统,包括回转机构驱动回路、俯仰机构驱动回路、推拉机构驱动回路、手抓机构驱动回路,并且进行了元件的选型与参数计算;采用西门子控制器和电液伺服控制技术,实现了机械手高性能运动控制。研究结果表明,该液压机械手具有结构简单、运行平稳、精度符合要求、传递效率高等特点,能够较好地解决生产搬运的问题。

Design of hydraulic servo manipulator with five degree of freedom

Aiming at the actual production problems of hydraulic manipulator, a five freedom hydraulic manipulator was introduced to meet high load, high positional accuracy, high productivity and other requirements of the high-power load handling. The manipulator was designed with five degrees of freedom which include gripping mechanism, tilt mechanism, sliding mechanism and slewing mechanism to achieve multidegree of freedom of the automatic load positioning, clamping and transfer functions. The rationality of the design was verified by the analysis of the manipulator kinematics and simulation results of the end actuator trajectory. Hydraulic manipulator system was designed, including the loop of gripping mechanism drive, the loop of tilt mechanism drive, the loop of sliding mechanism drive, the loop of slewing mechanism drive, and components were selected, parameters were calculated. Siemens controllers and electro-hydraulic servo control technology were used to achieve a high performance of motion control. The research results show that, the hydraulic manipulator has a simple structure, stable operation, required accuracy, and high transfer eeficiency. It can be beter able to solve handling production problems. ABSTRACT FROM AUTHOR]