CAJ | 학술논문

设计一种基于凸轮运动原理的简易机械手夹持机构，以期将其应用于机械臂的末端夹持装置和管道攀爬机器人的手爪。建立夹持机构的简化三维模型，在ADAMS环境下对其进行运动学与动力学仿真。通过ADAMS／Control接口模块，在Simulink中搭建夹持机构的联合仿真控制系统，利用三闭环PID控制方法进行机械系统与控制系统的联合仿真分析。仿真结果表明，所设计的夹持机构系统具有良好的动态响应和轨迹跟踪特性。
설계일충기우철륜운동원리적간역궤계수협지궤구，이기장기응용우궤계비적말단협지장치화관도반파궤기인적수조。건립협지궤구적간화삼유모형，재ADAMS배경하대기진행운동학여동역학방진。통과ADAMS／Control접구모괴，재Simulink중탑건협지궤구적연합방진공제계통，이용삼폐배PID공제방법진행궤계계통여공제계통적연합방진분석。방진결과표명，소설계적협지궤구계통구유량호적동태향응화궤적근종특성。
A simple manipulator clamping mechanism system was designed on the basis of the motion theory of cam to be applied in manipulator clamping device and pipeline climbing robot .The simpli‐fied 3D model of clamping mechanism was established ,and its kinematic and dynamic simulation was carried out in ADAMS .A co‐simulation control system of clamping mechanism was built in Simulink by use of ADAMS/Control interface module .By means of three‐closed‐loop PID control method , the mechanical system and control system of clamping mechanism were investigated by co‐simulation analysis .The simulation results show that the designed clamping mechanism has good dynamic re‐sponse and precise trajectory tracking .