【摘要】 介绍了一种包带式机械臂锁紧-释放机构,在柔性多体动力学基础上,对其解锁释放过程中包带的回收运动进行运动学建模,据此思想在ADAMS中进行运动学仿真,验证了该机构工作的可行性及安全性;分析了影响包带回收速度和运动轨迹的因素,对不同施加扭矩和不同集中质量情况下包带的回收运动进行了仿真和对比分析,可对实际结构参数进行合理化选择。更多还原

【Abstract】 A band locking-releasing mechanism for robotic arm is presented in this paper. Based on multi-flexible-body dynamics, a kinematic model for the band of the locking-releasing mechanism is built. According to this thinking, a kinematic simulation is carried out in ADAMS, and the feasibility and the reliability of the locking-releasing mechanism are identified. Factors affecting the speed and the track of retraction are analyzed. Cases of different torques and different concentrated masses are compared with each other. The configurable parameters are modified more logically according to the comparison.更多还原