【摘要】 对于盾构管片模具复杂的螺栓拆卸问题，在求得螺栓轨迹的情况下，对拆卸螺栓机械手的运动轨迹进行了拟合及优化，以平面四杆机构和柔性件组合来实现机械手的既定功能。首先通过平面四杆机构对螺栓轨迹进行拟合，以既定轨迹与平面四杆机构固定点轨迹的距离之和设计目标函数，通过粒子群算法对四杆参数进行优化求解。随后在平面四杆机构中加入柔性件来优化机械手的运动轨迹，并将两种形式通过仿真分析进行对比。最终搭建拆卸螺栓机械手的实验模型，验证了机械手工作过程的平稳性以及基本动作的完整性。更多还原

【Abstract】 For the complicated bolt disassembly problem of shield segment die, this paper has fitted and optimized the movement trajectory of the manipulator when the bolt trajectory is obtained.The planar four-bar mechanism and flexible parts are combined to realize the established function of the manipulator.Firstly, the plane four-bar mechanism was used to fit the bolt trajectory, and the objective function was designed by the sum of the distance between the given trajectory and the fixed-point trajectory of the plane four-bar mechanism.The four-bar parameters were optimized and solved by particle swarm optimization algorithm.Then a flexible part is added to the planar four-bar mechanism to optimize the trajectory of the manipulator, and the two forms are compared by simulation analysis.Finally, the experimental model of the bolt-removing manipulator was built to verify the stability of the manipulator′s working process and the integrity of its basic actions.更多还原