【摘要】 为了提高冲压加工的上料效率并尽可能消除安全隐患,首先根据冲床加工系统的工作要求,设计冲床上下料机械手的总体结构;然后利用D-H法建立机械手连杆坐标系,完成机械手的正逆运动学分析求解计算;最后应用MATLAB完成机械手模型建立、点到点运动轨迹规划、正逆运动学求解以及各关节运动学参数的仿真,证明机械手运动平稳无冲击,能够满足实际生产需要。分析表明:机械手的运用能够提高生产效率、降低劳动强度,对冲床产业自动化有一定的促进作用。更多还原

【Abstract】 Based on the function requirements of punch processing system,it designs the structure of this material feeding manipulator. It establishes the coordinate system of the manipulation and analyzes the forward and reverse kinematic characteristics based on D-H method. It applies MATLAB to build the manipulator model,simulates the point-to-point motion kinematics of manipulator. It proves the reliability of the manipulator. The applications of manipulator can greatly improve the work efficiency,reduce labor intensity and have a certain practical significance on promoting the automation of punch industry.更多还原