【摘要】 棉花中的异性纤维影响纯棉产品质量,采用智能机器人替代人工作业是新的发展方向。文章设计了一款具有5自由度棉花异性纤维分拣机器人。该机器人主要由四轮移动小车、液压升降平台、腰部、大臂、小臂、机械手等组成。针对棉花抓取与分拣,对机器人的抓棉手进行了结构设计,以滑环和连杆作为设计变量,优化了抓棉手的机械尺寸;同时,文章针对抓棉手指采用有限元方法进行了应变和模态分析,结果显示手指设计合理。更多还原

【Abstract】 In spinning cotton blended yarn,quality problems as mixed with foreign fibers were easy to be caused. Using intelligent robot replace manual operation was a new development direction.This paper proposed different fibers sorting robot with five DOF series joint type.The robot was consisted of four-wheeler,lift platform,waist,big arm, forearm,manipulator etc.According to cotton grab and sorting,the manipulator’s structure was designed.The slip ring and link were taken as design variables,which were optimized by optimality criteria method;the mechanical dimensions of manipulator were optimized.The stain and frequency were analyzed by finite element method.The result indicates that the whole design is feasible and reliable.更多还原