机械手的结构尺寸与夹持误差计算

(,221008),V,,::TP241;TH16:B:16713133(2006)01010803ComputationofstructuralsizeandholdingerrorsofthemanipulatorsQianJiguo(ChinaUniversityofMiningandTechnology,Xuzhou221008,CHN)AbstractIntroducestherelationbetweentheholdingerrorsofthemanipulatorsandtherangeofworkpiecesize.AnditdescribesthatwhenthestructuralsizeoftheV2typeclawsisdetermined,besidestherequirementofholdingaccuracywillbemet,theholdingrealiza2tionwillbeconsidered.Keywords:HoldingerrorClawsizeHoldingrealization1,,,,,,,;,,,2,,,,V2111A;OVAl,,V2,VACOA,R,COX:X=l2+(Rsin)2-2lRsincos(1)X2(lsin)2-(R-lcossin)2(lsinsin)2=1(2),,,()212X2R:R0=lcossin(3)X0=lsin(4)OCA=90,,,,R0,R=R0,80120061PPR=R1R2,R0,,,,V,:=arccosRlsin=arccosRlsin(5):R=(R1+R2)P2:X1=l2+(R1sin)2-2lR1sincos-lsin(6)X2=l2+(R2sin)2-2lR2sincos-lsin(7)Xmax=max(X1,X2),,X1X2,,,,,,:Rmax=lsin(+)(8),,,,2=140l=118R0,R23R1,,2=120,l=(24)R0V,lPR0,R0,R0R0,,,:R1R0RRR0R2,,:Xmax=l2+(R2sin)2-2lR2sincos-lsin(R1R0R)(9)R0R1R2R1R2R0,:Xmax=l2+(R2sin)2-2lR2sincos-l2+(R1sin)2-2lR1sincos(10),212(3),:X=l2+(Rsin)2-2lRsincos-s2(11)X2l2sin2-s2-(R-lcossin)2sin2(l2sin2-s2)=1(12)3:sX,(12),:R0=lcossin(13)X0=l2sin2-s2(14),(5),:X1=l2+R1sin2-2lR1sincos-s2-l2sin2-s2(15)X2=l2+R2sin2-2lR2sincos-s2-l2sin2-s2(16)Xmax=max(X1,X2)(17),,,,s,,:=arccosRsin-s1l(18):Xmax=l2+R2sin2-2lR2sincos-s2-l2sin2-s2(R1R0R)(19)Xmax=l2+R2sin2-2lR2sincos-s2-901PP20061l2+R1sin2-2lR1sincos-s2(R0R1R2)(20)213,4060mm,1mm,:R=R1+R22=40+602=50mm:R0=R=50mm,V2=140,l=118R=11850=90mm,:=arccosR0lsin=arccos5090sin70=531757Xmax=l2+(R2sin)2-2lR2sincos-lsin=902+60sin702-29060sin70cos531757-90sin531757=01778mm1mm(8)3,,,(7)(9)(19)(16),:[1].[M].:,1985.[2].[M].:,1995.:,,:[phone]:2005201219(52)2R51)R,,,2),,,,,,,,3)R,,,,,:[1]SINUMERIK840D2840Di2810D.2004.[2].[J].,2004,14(2):14-17.[3].SAXW[D].:,2003.[4],,,.[M].:,2002.:,,,:66(730050)E2mail:[e-mail]:200520822201120061PP