论文部分内容阅读
为了满足医院对血液样本检测流水线作业的需求,以Hoeken机构为基本设计思想,优化设计采样器中的取管机构。以机械手运动的设计轨迹与理论轨迹差距最小为目标函数,建立取管机构的数学模型;利用Matlab求解数学模型,采用Adams建立取管机构的虚拟样机模型进行运动学仿真,从而验证优化参数的可行性。仿真结果表明:优化后取管机构的轨迹、速度、加速度符合样本传输要求,为采样器单元的研制提供了有效参考。
In order to meet the hospital’s need for blood sample testing pipeline operations, Hoeken’s structure was taken as the basic design philosophy to optimize the take-up mechanism in the design sampler. Taking the smallest difference between the design trajectory and the theoretical trajectory of the robot’s motion as the objective function, a mathematical model of the pipe-picking mechanism is established. The mathematical model is solved by Matlab, and the virtual prototype model of the pipe-picking mechanism is established by Adams for kinematics simulation to verify the feasibility of the optimization parameters Sex. The simulation results show that the trajectory, velocity and acceleration of the optimized pipette meet the requirements of sample transmission and provide an effective reference for the development of sampler unit.