| 李秋苹， 章军， 崔军.一种欠驱动柔性机械手的抓取力研究[J].轻工机械,2018,36(3):14-17 |
| 一种欠驱动柔性机械手的抓取力研究 |
| Grasping Force Study of Underactuated and Flexible Manipulator |
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| DOI：10.3969/j.issn.1005 2895.2018.03.003 |
| 中文关键词: 柔性机械手 串联双铰链 双电机驱动 MATLAB软件 |
| 英文关键词:ompliant manipulator tandem two hinges twin motor drive MATLAB software |
| 基金项目:江苏省数控一代机械产品创新区域应用示范工程（2015BAF25B00） |
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| 中文摘要: |
| 为满足农产品（食品）行业中尺寸范围大、形状复杂、物性多样的复杂对象抓取需求，提出了一种欠驱动柔性机械手。设计了欠驱动柔性机械手的的结构
，介绍了其工作原理；采用2个电机驱动串联双铰链柔性关节；以直径为20,40和60 mm的圆柱铝块为抓持对象，建立了静态力学方程和几何平衡方程；运用
MATLAB软件中fsolve函数求出机械手在负载状态下驱动杆行程与抓取力的关系。计算结果表明通过控制驱动杆行程，可以实现调节抓取力的大小，在不损坏物体
表面的前提下，有效抓取复杂对象。 |
| 英文摘要: |
| In order to meet the demands of complex objects with large scale, complex shapes and complex physical properties in the agricultural products
industry，this paper proposed a kind of underactuated and flexible manipulator. This paper introduced the structure and working principle of this manipulator, the manipulator used two
motors to drive the tandem two hinges joints. The static mechanical equation and the geometric equilibrium equation were established by grasping the cylindrical aluminum block with
diameters of 20, 40 and 60 mm. The relationship between the driver stroke and grasping force was found out by the fsolve function of MATLAB software under the load state. The
calculations results indicate that grasping force is adjusted by the stroke of drive rod. The manipulator can effectively grasp complex objects without damaging the surface of the object. |
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