齿轮抓取机械手运动学建模与仿真

摘要

Gear finishing is the procedure in which NC working punching machine is used to remove the gear burrs etc, but the gears need to be accurately placed at the appointed position of the punching worktable. To realize the production automation, boost pro-ductivity and reduce the accident caused by tiredness, a gear finishing robot is designed to replace workers to complete the gear pla-cing and guarantee the positioning accuracy. In order to study the dubiety between each moving elements and the hand of the robot in the space, D-H method is used to get the kinematic modeling. Based on the con-rod coordinate system sketch, the homogene-ous coordinate transformation is used to solve the positive problem of robot kinematics,which lays the foundation for the trace pro-gramming and simulation later.%齿轮精整是利用数控精整冲床去除齿轮上毛刺以提高齿轮精度的一道工序，该工序需要将齿轮放置在冲床工作台的指定位置，且具有较高的定位精度。为了实现生产的自动化，提高生产效率，减少因人工疲劳所导致的危险事故，设计了一种齿轮抓取机械手来代替人工完成齿轮的放置并保证定位精度。分析了机械手各个运动构件与末端执行器在空间的位置关系，利用D-H法建立了机械手的坐标系，并在连杆坐标系简图的基础上，利用齐次坐标变换对机械手进行运动学建模。为机械手的运动规划和控制奠定基础。