程相文,王成.码垛机抓手夹持机构的对称性分析与优化设计[J].包装工程,2021,42(13):251-256.
CHENG Xiang-wen,WANG Cheng.Symmetry Analysis and Optimization Design of Gripper Clamping Mechanism of Palletizer[J].Packaging Engineering,2021,42(13):251-256. |
| 码垛机抓手夹持机构的对称性分析与优化设计 |
| Symmetry Analysis and Optimization Design of Gripper Clamping Mechanism of Palletizer |
| 投稿时间：2020-10-06 |
| DOI：10.19554/j.cnki.1001-3563.2021.13.035 |
| 中文关键词: 码垛机抓手 运动对称性 粒子群算法 Adams |
| 英文关键词: palleticher gripper kinematic symmetry particle swarm algorithm Adams |
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| 中文摘要: |
| 目的 为了简化码垛机抓手机构，并解决码垛机抓手夹持机构对称性的问题。方法 在查阅文献的基础上设计一种高位码垛机抓手的夹持机构，并从机构对称性角度出发，建立夹持机构的数学模型，采用基于AIWF的粒子群优化算法对机构参数进行数值优化。结果 优化后抓手的最大对称性偏差从1.0423°降低到0.4113°，优化效果明显。在Adams软件中建立了相应的样机模型，通过仿真分析验证了数值优化结果的正确性。结论 设计的码垛机抓手机构简洁，对称性好，实际应用效果好。 |
| 英文摘要: |
| The paper aims to simplify the gripper mechanism of the palletizer and solve the symmetry problem of the gripper gripping mechanism of the palletizer. On the basis of literature review, a clamping mechanism of high-level palletizer gripper was designed. From the perspective of mechanism symmetry, a mathematical model of the clamping mechanism was established, and the parameters of the mechanism were numerically optimized by particle swarm optimization algorithm based on AIWF. After optimization, the maximum symmetry deviation of the gripper was reduced from 1.0423° to 0.4113°, and the optimization effect was obvious. A corresponding prototype model was established in Adams software, and the correctness of the numerical optimization results was verified through simulation analysis. The designed gripper mechanism of the palletizer is simple, with good symmetry and good practical application effect. |
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