新型抓胎机械手结构优化及动作分析

针对目前传统抓胎机械手在取胎过程中易发生胎坯变形不对称和变形量大的问题,对抓胎机械手取胎过程中影响胎坯纵向和横向变形的主要因素进行了研究,提出了定位内撑一体的抓取方法;并结合实际工作要求,从抓胎机械手动力学参数设计角度出发,优化设计出了新型内撑抓胎机械手,利用动力学仿真分析软件ADAMS对新型机械手内撑机构工作位置的运动及动力学特性进行了仿真分析,通过有限元柔性体分析方法,对3种抓胎机械手取胎时轮胎胎坯变形量的大小及分布情况进行了对比、验证。研究结果表明:新型机械手能够实现胎坯定位、内撑取胎的功能,并且对取胎过程中胎坯存在的变形不对称和变形量大的问题均有明显改善。

Structure optimization and motion analysis of a new type grasping robot-hand

Aiming at the problem of asymmetric deformation and large deformation degrees of green tire during robot hand grasping green tire,the important factors influencing the deformation of green tire in taking process were researched,the inner bracing method was proposed.Staring form the dynamic parameters design of robot hand,the structure of the robot hand was optimized under the work requirement,motion analysis and contact force analysis were made for inner-bracing mechanism by means of ADAMS software in the process of grasping tire,the stress analysis and deformation analysis of the green tire were made by the finite element flexible analysis method,the simulation results were compared and verified.The results indicate that:the new type of grasping tire robot hand meets the requirements and the influence on the deformation of the green tire is smaller than the traditional tire grasping robot hand.