Design Analysis of Gripper Drive Disc of High Rotation Polynomial
For the smoothness design of the mechanical gripper drive disc with the motion trajectory,a method of integrating the high-order polynomial of the turntable index with the primary rotation equation was proposed.The parameter matrix(base circle radius,linkage disk class time index,motion formation angle,motion formation)was set for the time class exponential high-order polynomial function in the plane coordinate system.The correlation high-order polynomial discrete point matrix was brought into the rotating coordinate system to achieve deflection in the plane coordinate system,and the high-degree rotation polynomial trajectory equation was obtained.The displacement,quasi-velocity,acceleration-like and super-acceleration of the motion trajectory curve of the mechanical gripper drive disc were analyzed from one to eight times,reaching a smooth state of the motion trajectory of the mechanical gripper drive disc of the polynomial of more than two rotations.The experiments show that the smoothness of the mechanical gripper drive disc movement is related to the number of times.
mechanical gripperhigh-order polynomial functionrotation matrixclass time index
国家科技期刊平台
NSTL
万方数据
