【摘要】 针对PCB数控钻床上下料时对人力过度依赖所带来的问题,提出采用自动上下料机械手替代人工上下料。根据上下料机械手功能需求对自动上下料机械手进行了总体设计,分析了机械手安装布局,并使用SolidWorks建立了机械手的模型。运用D-H参数法建立机械手的运动学方程,求解出机械手末端在全局坐标系下的位置及姿态。再通过ADAMS对机械手进行运动仿真,得到并分析了机械手的末端的轨迹信息、位移信息、速度及加速度信息,验证了设计的正确性和合理性,为机械手实际动作优化和运动控制提供了依据。更多还原

【Abstract】 Aiming at the problems caused by the excessive dependence of human resources on the printed circuit board(PCB)computer numbercial control(CNC) drilling machine,the use of automatic feeding and unloading material manipulator instead of manual labor is put forward. According to the demand of the feeding and unloading material manipulator,the overall design of the automatic feeding and unloading manipulator was carried out,and the layout of the manipulator installation was analyzed. The model of manipulator was established by using SolidWorks. Using the D-H parameter method to establish the kinematics equation of the manipulator,the position and posture of the robot’ s tail in the global coordinate system were solved. And then through the ADAMS to the manipulator motion simulation,the trajectory information,the displacement information,the velocity and the acceleration information of the manipulator were obtained and analyzed. The correctness and rationality of the design are verified,it provides the basis for the actual motion optimization and motion control of the manipulator.更多还原