Abstract

In this paper, a new structural design method based on MATLAB is developed for the configuration design and optimization of real-life planar manipulators in the high-speed press line. To explore planar manipulators with better performance, the developed method provides a suite of analysis procedures including demonstrating structural synthesis in graph theory, building conversion relations between different models, and generating new configurations of the planar manipulator. In the structural synthesis, the whole family of non-isomorphism planar 8-link kinematic chains with up to 3 prismatic pairs is generated, which lays a solid foundation for the generation of new configurations of planar manipulators. Under the expected requirements and constraints, the original planar manipulator is compared with new planar manipulators in which the developed method. The result shows that the developed method of task-driven structural synthesis is effective in generating configurations of planar manipulators and enriches related research of structural design and optimization in the field.

摘要

本文开发了一种基于 MATLAB 的新型结构设计方法，用于高速冲压线中现实生活中平面机械手的配置设计和优化。为了探索具有更好性能的平面机械手，所开发的方法提供了一套分析程序，包括演示图论中的结构合成、建立不同模型之间的转换关系以及生成平面机械手的新配置。在结构合成中，生成了具有多达3个棱柱对的全族非同构平面8连杆运动链，为平面机械臂新构型的生成奠定了坚实的基础。在预期的要求和约束下，将原来的平面机械手与采用开发方法的新型平面机械手进行了比较。结果表明，所开发的任务驱动结构合成方法可有效生成平面机械手的构型，丰富了该领域结构设计和优化的相关研究。