| 袋装物品搬运码垛机器人末端执行器的虚拟开发 |
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| 引用本文： | 李有堂,郭亚林.袋装物品搬运码垛机器人末端执行器的虚拟开发[J].甘肃科学学报,2014(1):95-99. |
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| 作者姓名： | 李有堂 郭亚林 |
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| 作者单位： | 兰州理工大学机电工程学院,甘肃兰州730050 |
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| 摘 要： | 针对袋装物品的尺寸和规格以及码垛过程中的运动特性,提出并设计了一种新型的码垛机器人的末端执行器,该方案采用气压驱动,引入四杆机构"自锁"提高机构运行的可靠性,并在Pro_E平台进行虚拟建模、在adams平台对该机构进行力学运动学仿真,最终结果表明了该机构可以在要求下简单、可靠的完成搬运码垛的规定动作.
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| 关 键 词： | 袋装物品 搬运码垛机器人 末端执行器 气压驱动 虚拟开发 |
Virtual Development of End-Effectors of the Bagged Items Handling-Palletizing Robot |
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| LI You-tang,GUO Ya-lin.Virtual Development of End-Effectors of the Bagged Items Handling-Palletizing Robot[J].Journal of Gansu Sciences,2014(1):95-99. |
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| Authors: | LI You-tang GUO Ya-lin |
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| Institution: | (School of Mechatronic Engineering , Lanzhou University of Technology ,Lanzhou 730050, China) |
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| Abstract: | Based on the size and specifications of the bagged items and the motion characteristics of the stacking process,a brand-new end-effector of the h andling-palletizing robot was designed. Pneumatic drive and the four-bar mechanism ＂self-locking＂ in this scheme were adopted to improve the reliability of the op- eration, and then the virtual modeling of the mechanism on Pro_E, and the kinetic simulation of the mecha- nism on Adams were separately conducted. The results show that the mechanism can neatly and reliably finish the palletizing and handling of bagged items as prescribed. |
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| Keywords: | Bagged items Handling-palletizing robot End effectors Pneumatic drive Virtual development |
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