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取药机械手的设计及其运动分析与仿真
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Design and Kinematics Analysissimulation of a MedicineFetching Manipulator
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    摘要:

    为了提高自动化药房的取药速度,设计了一种新型取药机械手。该机械手的夹取方式采用两指平移形式,手爪底座下方设计有临时储药装置,可以满足机械手一次往返抓取多盒不同药品的要求;运用D-H法和矩阵法建立坐标系及运动学方程,并在MATLAB软件中运用拓展工具箱Robotics Toolbox对机械手进行运动学仿真,得出机械手的运动范围。该研究可为减少单处方抓取期间往返出药口的次数,缩短取药用时以及规划机械手轨迹提供一定的参考。

    Abstract:

    In order to improve the speed of medicine fetching in automatic pharmacy, a new type of medicinefetching manipulator is designed. The gripper gripped medicine in translation, and below the base of the grippe designed the temporary medicine storage devices,the requirements could be met for the gripper to grip multiple boxes of different medicines at once. The coordinate system and kinematics equation were established by using D-H method and matrix method. The kinematics simulation of manipulator was carried out by using extended toolbox Robotics Toolbox in MATLAB software, and the kinematic range of manipulator was obtained. The its significance of reference are reducing the number of trips to and from the medicine port during the griping, shorten the time of fetching medicine, and planning manipulator trajectory.

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李泊,李成群.取药机械手的设计及其运动分析与仿真[J].机床与液压,2019,47(17):71-75.
. Design and Kinematics Analysissimulation of a MedicineFetching Manipulator[J]. Machine Tool & Hydraulics,2019,47(17):71-75

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  • 在线发布日期: 2020-03-12
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