中文摘要：

针对当前环锭纺纱机断纱率高、人工接头劳动强度大的现状,开发了一套适用于环锭纺纱机的自动接头机器人。采用牛顿-欧拉方法建立了机器人的动力学方程,并运用MATLAB编程方法和ADAMS动力学仿真功能分别求解出关节驱动力矩,通过两者结果对比,验证了理论推导的正确性。应用ADAMS参数化设计功能求解出关节力矩峰值,为电机选型提供了精确的参数依据。最后以机器人样机做PTP运动为例,对机器人动力学性能进行测试,实验数据与仿真结果吻合,验证了整机设计方法的可行性。该机器人的研发突破了环锭纺纱机无法实现接头自动化的瓶颈。

英文摘要：

In view of the current situation that ring spinning has high yarn breakage rate and big labor intensity of manual yarn piecing,an automatically yarn piecing robot applicable to ring spinning frame was developed. Dynamics equations of the robot were established with application of Newton-Euler method,and the driving torques of joints were solved respectively by MATLAB programing and ADAMS dynamic simulation,and the correctness of the theoretical derivation was verified by comparison of the results of the two methods. Then,the parametric design method of ADAMS was used to solve the maximum torque value,which provided accurate parameter basis for motor selection. Finally,the dynamics performance of the robot prototype was tested when the robot prototype moved at PTP trajectory. The experimental data was consistent with the dynamics simulation results,which verified the feasibility of the design method of the whole system. The research and development of this robot broke through the bottleneck that ring spinning cannot realize yarn piecing automatically.