河北水利电力学院学报

河北水利电力学院学报 ›› 2021, Vol. 31 ›› Issue (3): 36-40.DOI: 10.16046/j.cnki.issn2096-5680.2021.03.007

• 技术理论与应用 • 上一篇    下一篇

一种抑制振动的平板玻璃上下片机械手的设计

石岩1,2,3, 蔡国庆1,2,3, 张鹏程1,2,3, 张金龙3   

  1. 1.河北省工业机械手控制与可靠性技术创新中心,河北省沧州市黄河西路49号 061001;
    2.沧州市工业机械手控制与可靠性技术创新中心,河北省沧州市黄河西路49号 061001;
    3.河北水利电力学院机械工程系,河北省沧州市黄河西路49号 061001
  • 收稿日期:2020-11-27 修回日期:2021-03-31 出版日期:2021-09-30 发布日期:2021-11-19
  • 作者简介:石岩(1981-),女,河北承德人,工学博士,副教授,主要从事机器人机构学理论与应用研究。E-mail:shiyanysu@163.com
  • 基金资助:
    河北省高等学校科学技术研究重点项目(ZD2019058)

Design of a Vibration Suppression Manipulator for Plate Glass

SHI Yan1,2,3, CAI Guo-qing1,2,3, ZHANG Peng-cheng1,2,3, ZHANG Jin-long3   

  1. 1. Hebei Industrial Manipulator Control and Reliability Technology Innovation Center, 061001, Cangzhou, Hebei, China;
    2. Cangzhou Industrial Manipulator Control and Reliability Technology Innovation Center, 061001, Cangzhou, Hebei, China;
    3. Department of Mechanical Engineering, Hebei University of Water Resources and Electric Engineering, 061001, Cangzhou, Hebei, China
  • Received:2020-11-27 Revised:2021-03-31 Online:2021-09-30 Published:2021-11-19

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摘要： 设计了一种抑制振动的平板玻璃上下片机械手,主要由支撑板、固定板、玻璃吸附板、主动伸缩杆、从动伸缩杆及关节组成。机械手采用并联结构,弥补了目前单梁玻璃上下片机械手运动不平稳、受力集中等不足。采用SolidWorks软件对机械手进行三维建模及运动仿真,验证了机构的可行性。采用ADAMS软件对机械手进行动力学仿真,验证了机械手在抓取玻璃偏置的情况下,从动杆承担了抓取偏置产生的扭矩,抑制了机械手的振动,提高了机械手的强度,延长了机械手的使用寿命。

关键词: 机械手, 玻璃上下片, 并联机构, 抑制振动

Abstract: A kind of vibration suppression manipulator for plate glass is designed, which is mainly composed of a support plate, a fixed plate, a glass adsorption plate, active telescopic rods, driven telescopic rods and different joints. The parallel structure is adopted in this manipulator, which makes up for deficiencies of the current single beam glass up and down manipulator, such as instable movement, stress concentration and so on. SolidWorks software is used to carry out 3D modeling and motion simulation of the manipulator, which verifies the feasibility of the mechanism. ADAMS software is used to simulate the dynamics of the manipulator, and it is verified that the driven rod bears the torque produced by the grabbing bias when the manipulator grabs the glass offset, which suppresses the vibration of the manipulator, improves the strength of the manipulator and prolongs the service life of the manipulator.

Key words: manipulator, glass up and down, parallel mechanism, vibration suppression

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