Kinematic analysis of adjusting mechanism of bamboo and wood-based special-shaped panels sucker based on graph theory and closed-loop vector method

IF 1.5 4区工程技术 Q3 ENGINEERING, MECHANICAL

Journal of Mechanical Science and Technology Pub Date : 2024-09-03 DOI:10.1007/s12206-024-0839-9

Yimin Che, Wusheng Luo, Qi’ao Li

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引用次数: 0

Abstract

This article designs a suction cup adjustment mechanism for board conveyors, which has solved the problem of poor equipment adaptability caused by different shapes and sizes of bamboo and wood shaped boards during transportation. Firstly, a kinematic model of the mechanism was established by combining graph theory with closed-loop vector method, and its kinematics were systematically studied, including position, velocity, acceleration, and singular position, and the influence of main structural parameters on the motion behavior of the mechanism was discussed. Secondly, the dynamic model of the mechanism was established using the principle of Jean le Rond d’Alembert, and the driving force and internal forces acting on each component were obtained. Then, numerical simulation verification including kinematic and dynamic models was completed. Finally, the effectiveness of the mechanism was verified through the experiment of grasping heterogeneous boards. This study will lay a solid theoretical foundation for the application of this new type of heterogeneous boards suction cup gripper.

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基于图论和闭环矢量法的竹木基异型板吸盘调节机构运动学分析

本文设计了一种板材输送机吸盘调节机构，解决了竹木异形板材在输送过程中因形状和尺寸不同而导致的设备适应性差的问题。首先，结合图论和闭环矢量法建立了该机构的运动学模型，系统研究了其运动学特性，包括位置、速度、加速度和奇异位置，并讨论了主要结构参数对机构运动行为的影响。其次，利用 Jean le Rond d'Alembert 原理建立了机构的动力学模型，并获得了作用于各部件的驱动力和内力。然后，完成了包括运动学和动力学模型在内的数值模拟验证。最后，通过抓取异质木板的实验验证了该机构的有效性。这项研究将为这种新型异质板吸盘式机械手的应用奠定坚实的理论基础。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Mechanical Science and Technology 工程技术-工程：机械

CiteScore

2.90

自引率

6.20%

发文量

517

审稿时长

7.7 months

期刊介绍： The aim of the Journal of Mechanical Science and Technology is to provide an international forum for the publication and dissemination of original work that contributes to the understanding of the main and related disciplines of mechanical engineering, either empirical or theoretical. The Journal covers the whole spectrum of mechanical engineering, which includes, but is not limited to, Materials and Design Engineering, Production Engineering and Fusion Technology, Dynamics, Vibration and Control, Thermal Engineering and Fluids Engineering. Manuscripts may fall into several categories including full articles, solicited reviews or commentary, and unsolicited reviews or commentary related to the core of mechanical engineering.