新型送料机械手及其工作空间分析

设计了一种用于冲压生产线的新型送料机械手。该机械手由大臂、小臂和端拾器依次串联而成，其中大臂为六自由度6-PSS并联机构构型，小臂即延长臂为一个直线移动机构。绘制了机械手的工作空间，分析了该机械手主要几何参数对其工作空间大小的影响规律，根据两压机间送料的要求，选取了机械手的几何参数，并设计了该机械手的虚拟样机。该机械手具有横向移动速度快和工作空间大等特点，可用于冲压线上工件的输送或现代工业其他送料场合。

Workspace Analysis of a Novel Feeding Manipulator

A novel feeding manipulator used in stamping production line was designed herein. This manipulator was successively formed by arm, forearm and end-picking device. Configuration of the arm was 6-PSS parallel mechanism. The forearm was also known as extended arm and the configuration was linear moving mechanism.The workspace of the manipulator was drawn. The influence rules between geometrical parameters of the manipulator and workspace volume were revealed. A set of reasonable geometrical parameters was selected based on feeding requirements among two presses, and the virtual prototype of this manipulator was presented. The features of the manipulator are of fast speed of lateral movement, large work space, etc, which can be used to convey workpieces on punching lines or other feed applications of modern industries.