摘要
目前,在药物的配制过程中,尤其是有毒性的化疗药物的配制,会对自己的健康造成很多的损害,因此,越来越多的医院需求自动化配制有毒药物的机器人。配药机器人中机械手用来代替人手进行药品的输送和抓取,因此机械手末端的设计是抓取物体的成功与否的关键。针对现有机械手抓的缺点,基于双滑块机构的传动方式,设计了一款新型机械手抓。并对其运动和应力进行理论分析,利用Recurdyn软件和ABAQUS软件分别进行仿真来证明理论的正确性。同时,成功制作样机模型,并完成实验测定。
At present,a lot of damage is caused to our health,in the preparation of drugs,especially the toxic chemotherapy drugs.The robot of automation dispensing toxic drugs is more and more intense demanded in a hospital The dispensing robot manipulator is used instead of manual medicine transporting and grasping,so the design of the manipulator is the key to the success of the grasping object.A mechanical hand was designed aiming at the disadvantage of mechanical hand,based on the transmission mode.And its motion and stress was analyzed.It was simulated to prove the correctness of the theory by Recurdyn software and ABAQUS software.At the same time,the prototype model was made,and was experimented.
出处
《机械设计与制造》
北大核心
2016年第6期70-74,共5页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(61340047)
关键词
配药机器人
传力比
机械手抓
速度分析
Dispensing Robot
The Ratio of Delivering Force
Mechanical Gripper
Velocity Analysis
