[1]许明三,陈培杰,江吉彬,等.基于柔弹性线材姿态轨迹的成结机构设计与实验[J].福建理工大学学报,2026,24(01):67-73.[doi:10.3969/j.issn.2097-3853.2026.01.009]
XU Mingsan,CHEN Peijie,JIANG Jibin,et al.Design and experiment of knotting mechanism based on flexible elastic wire attitude trajectory[J].Journal of Fujian University of Technology;,2026,24(01):67-73.[doi:10.3969/j.issn.2097-3853.2026.01.009]
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基于柔弹性线材姿态轨迹的成结机构设计与实验(
)
《福建理工大学学报》[ISSN:2097-3853/CN:35-1351/Z]
- 卷:
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第24卷
- 期数:
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2026年01期
- 页码:
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67-73
- 栏目:
-
- 出版日期:
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2026-02-25
文章信息/Info
- Title:
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Design and experiment of knotting mechanism based on flexible elastic wire attitude trajectory
- 作者:
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许明三; 陈培杰; 江吉彬; 叶建华; 唐映林; 林俊杰
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福建理工大学机械与汽车工程学院
- Author(s):
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XU Mingsan; CHEN Peijie; JIANG Jibin; YE Jianhua; TANG Yinglin; LIN Junjie
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School of Mechanical and Automotive Engineering, Fujian University of Technology
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- 关键词:
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柔性线材; 成结装备; 单结; 运动轨迹模型
- Keywords:
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flexible wire; knotting equipment; single knots; motion trajectory model
- 分类号:
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TH122
- DOI:
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10.3969/j.issn.2097-3853.2026.01.009
- 文献标志码:
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A
- 摘要:
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针对柔弹性复合线材由于弯曲刚度过小导致结口塌陷和存在的弹性变形影响成结效果的问题,提出了一种基于成结线材动作轨迹建模的随动型成结机构设计方法。通过运动轨迹模型结合线材物理特性试验进行设计参数匹配后开展了线材实机成结实验。实验结果表明,所提的设计方法可以为该线材成结过程提供支撑与约束,并有效控制成结后成品的尾端长度,同时达到3.8 s/ pcs 的加工效率,能够满足实际生产需求。
- Abstract:
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Aiming to address the issue of knot collapse and elastic deformation caused by insufficient bending stiffness of flexible elastic wires, which affect the knotting effect, a follow-up knotting mechanism design method based on motion trajectory modeling of wire knotting is proposed. Combined with the wire physical characteristics test, the design parameters were matched through the motion trajectory model. Practical knotting experiments were then carried out. Results demonstrate that the proposed design method can provide support and constraints for the wire knotting process, effectively control the tail length of finished knots while achieving a production efficiency of 3.8 s every piece, which meets the requirements of practical production needs.
参考文献/References:
［1］ 北京博研智尚信息咨询有限公司. 中国打结机配件行业市场规模及投资前景预测分析报告［EB/OL］. (2024-11-09)［2024-12-04］. https:∥www.docin.com/p-4763660302.html.［2］ WANG W F，BALKCOM D. Grasping and folding knots［C］∥IEEE International Conference on Robotics and Automation （ICRA）. Stockholm: IEEE，2016：3647-3654.［3］ WANG W F，BALKCOM D. Knot grasping，folding，and re-grasping［J］. The International Journal of Robotics Research，2018，37（2/3）：378-399. ［4］ CHEN J R，HANG L B，CHEN Y Z，et al. Research on a new knotting device based on knot theory［C］∥3rd International Conference on Electronic Information Technology and Computer Engineering （EITCE）, 2019. Xiamen: IEEE, 2020：872-875. ［5］ 吴昊，张峰峰，詹蔚，等. 虚拟手术缝合线实时打结仿真研究［J］. 计算机仿真，2021，38（3）：331-335，359.［6］ 林晶，陈鼎，李超鹏，等. 瓦楞纸板垛的自动绕绳打结机设计及试验［J］. 包装工程，2020，41（1）：82-87.［7］ 黄桂芳，林建伟，魏观渊，等. 海带打结机的成结机构及其控制系统设计［J］. 渔业研究，2023，45（6）：585-592. ［8］ 白茂东，杨继新，王学俊，等. 平结式双条海带打结新方法［J］. 大连工业大学学报，2017，36（4）：300-303. ［9］ 谭嗣宇，裴泽光. 黄麻纱线自动打结器的设计［J］. 棉纺织技术，2025，53（9）：40-46. ［10］ 江浩，彭侠夫. 基于三次贝塞尔曲线的轨迹规划方法［J］. 数字技术与应用，2022 ，40(11) ：7-10.
更新日期/Last Update:
2026-02-25