可重构冲压机械手的设计与运动学分析

利用模块化设计思想对可重构冲压机械手进行模块划分与设计,然后利用设计的模块组成一种常用的圆柱坐标式冲压机械手和一种利用夹具的折弯机械手,并以折弯机械手为例进行运动学分析,得到运动学正逆解。并利用CREO对折弯机械手的一次运动过程进行运动学仿真。仿真结果表明:该机械手可以完成物料搬运与制件折弯的任务,为冲压自动生产线提供了参考。

Design and Kinematics Analysis for Reconfigurable Stamping Manipulator

The module was divided and designed for reconfigurable punching manipulator through modular design. Then the modules were used to form a commonly cylindrical coordinate stamping manipulator and a bending manipulator using fixture. After the kinematic analysis for the bending manipulator, kinematic positive and negative solutions were obtained. CREO was used to simulate the motion of the bending manipulator. The simulation results show that the manipulator can complete the task of material handling and bending. It provides reference for stamping automatic production line.