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英语翻译本部分以图一所示机械手为例,该机械手的主要功能工件从位置A抓取并送到位置B.图2是机械手工作位置示意图.图3是图

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英语翻译
本部分以图一所示机械手为例,该机械手的主要功能工件从位置A抓取并送到位置B.图2是机械手工作位置示意图.
图3是图一所示机械手的机构运动简图.此节以该机械手为研究对象,设计为气动驱动机械手.根据其抓物取料时简图,其工作原理如下:工件的补充使用人工控制,亦即可直接将工件放在机械手爪下方,机械手爪动作;只要手爪下方一有工件,气缸1带动大机械手臂使机械手爪下降,气缸2配合大臂带动小机械臂工作,将工件抓取后上升到一定高度停滞,然后底座由底部齿轮带动,旋转90度,将它搬运到规定地点的上方,随后通过两气缸配合,再次带动机械手臂下降后放开工件,机械手臂上升,底座回旋90度复位.
鉴于本文只研究机械手底座与大小臂之间的配合,因此为了简化分析模型,在模型中删除了齿轮与轴之间的键、起支撑作用的肋板以及其他冗余的结构,并用ADAMS的布尔运算功能将机械手爪的所有零件固连,及其他有相近作用的部分分别合为一体.完成简化后,为了使各个相对运动的部分形成有机的整体,根据构件之间相对运动,在模型中的利用ADAMS/View中的约束工具为各个构件之间引入约束.完成约束添加并选择选择各部分颜色后的模型如图4 所示.
The manipulator shown in the figure is the example of this section.the primary function of the manipulator is to grab a part and transfer it from position a to position b.Figure 2 is a diagram
to show the manipulator working position.
The kinematic diagram of the manipulator mechanismAs is shown in Figure 3.This section will focus on the study of the manipulator and design pneumatic powered manipulator.According
to the sketch of its grasp when taking the material,its working principles are as follows:the supplementary use of manual control,that
is directly below the workpiece in a manipulator claw,manipulator claw
action;As long as hand claw below a has workpiece,
cylinder 1 led large manipulator arm makes manipulator claw declined,
cylinder 2 tie large arm led small machinery arm work,will workpiece
grab Hou rose to must height stagnation,then base by bottom gear led,
rotating 90 degrees,will it handling to provides locations of above,
then through two cylinder tie,again led machinery arm declined Hou
release workpiece,machinery arm rose,base swing 90 degrees reset.
In view of this article only matching research robot base with size
between arm,in order to simplify the analysis model in the model
between gears and shaft key is removed,the supporting role of rib and
other redundant structures,Boolean operation function manipulator claw
and ADAMS all parts of solid companies,and other similar parts for one
of the roles.After completing the simplified,in order
to form an organic whole the relative motion of the parts,according to
the relative motion between components,used in the model constraints in the ADAMS/View tool for individual members to introduce constraints.After you complete the constraint and select the components of the selected color model as shown in Figure 4.