首先利用平面几何关系,建立了灌装机械手的运动学方程,再通过 MATLAB 计算了各关节的位移曲线、速度曲线以及加速度曲线,在此基础上进行了动力学仿真,得到了各关节的扭矩曲线。 结果表明:各关节运动较平稳,所选的电机的额定扭矩大于所需的最大扭矩,满足使用要求,为灌装机械手的设计提供了理论依据。

Kinematical equation of filling manipulator was established based on planar geometric relationship. Each joint's displacement curve, speed curve, and acceleration curve was calculated by MATLAB. Dynamic simulation was carried out to get each joint's torque curve. The results showed that each joint movement is smooth and the motor rated torque is greater than the maximum needed torque; the motors meet the requirements. The purpose was to provide a theoretical basis for design of filling manipulator.