2023年第47卷第5期JournalofMechanicalTransmission基于Adams的自行走式缠绕包装机器人包装膜固定装置的设计与运动学仿真石亚磊1王良文1刘一扬2李伟玮3李飞飞1李梓鹏1（1郑州轻工业大学机电工程学院，河南郑州450002）（2郑州财经学院智能工程学院，河南郑州450049）（3河南中烟工业有限责任公司安阳卷烟厂，河南安阳455004）摘要缠绕包装广泛应用于物流运输包装中。开发自行走式缠绕包装机器人可以显著推升行业的技术进步，而开发该机器人的关键是包装膜固定装置的设计。提出了一种用于自行走式缠绕包装机器人的包装膜固定装置，包括气缸驱动关节臂、夹持翻转机构、压带切断机构、胶带展开机构等。在根据工作要求进行机构设计的基础上，采用SolidWorks对结构进行三维建模，并通过Adams对其进行多体运动学分析，验证了机构的可行性。仿真结果表明，夹头的运行轨迹符合规划路径，达到了设计要求。研究为后续缠绕包装机器人的实用化提供了依据。关键词包装机器人缠绕包装包装膜固定装置建模Adams仿真DesignandKinematicsSimulationofAdhesiveTapeFixingDevicesofSelf-walkingWindingPackagingRobotsBasedonAdamsShiYalei1WangLiangwen1LiuYiyang2LiWeiwei3LiFeifei1LiZipeng1(1MechanicalandElectricalEngineeringInstitute,ZhengzhouUniversityofLightIndustry,Zhengzhou450002,China)(2SchoolofIntelligentEngineering,ZhengzhouCollegeofFinanceandEconomics,Zhengzhou450049,China)(3AnyangCigaretteFactory,ChinaTobaccoIndustryCo.,Ltd.,Anyang455004,China)AbstractWrap-aroundpackagingiswidelyusedinlogisticsandtransportationpackaging.Thedevelopmentofaself-propelledwindingandpackagingrobotcansignificantlypushupthetechnologicalprogressoftheindustry,andthekeytothedevelopmentofthisrobotisthedesignofthepackagingfilmfixingdevice.Inthisstudy,weproposeapackagingfilmfixingdeviceforaself-propelledwrap-aroundrobot,includingacylinderdrivenarticulatedarm,aclampingandturningmechanism,apresstapecuttingmechanism,andatapeunfoldingmechanism.Basedonthemechanismdesignaccordingtotheworkrequirements,SolidWorksisusedtomodelthestructureinthreedimensions,andthemulti-bodykinematicanalysisisperformedbyAdamstoverifythefeasibilityofthemechanism.Thesimulationresultsshowthattherunningtrajectoryofthebeltch...
