论文部分内容阅读
工业机械手夹钳式手部的主要动力设计条件是传动机构的增力比值和手指夹紧力值、本文根据虚功原理,推导了手部传动机构的增力比:M/P=1/2L_1β_3’sin(NL_1)并由此绘制M/P～S 特性曲线、根据几种典型传动机构的M/P～S 特性曲线,可以选择增力比值适宜变化趋势合理的传动机构类型及其结构尺寸。本文介绍了夹紧力实验。实验证明N=K_1 K_2 K_3 G计算公式在|α|<3g 条件下,该公式是偏于安全的。同时本文给出夹持方位系数曲线图,对动载系数提出选值意见。
According to the principle of virtual work, this paper deduces the force increasing ratio of hand transmission mechanism: M / P = 1 / 2L_1β_3 ’sin (NL_1) and draw the M / P-S characteristic curve. According to the M / P-S characteristic curves of several typical transmission mechanisms, it is possible to select the type and structure size of the transmission mechanism with reasonable trend of change in force. This article describes the clamping force experiment. Experiments show that N = K_1 K_2 K_3 G formula | α | <3g conditions, the formula is biased to safety. At the same time, the paper gives the clamping position coefficient curve, the dynamic load coefficient proposed opinion.