| 史晓斐， 章军， 王城坡.复合驱动变掌机械手[J].轻工机械,2019,37(6):1-6 |
| 复合驱动变掌机械手 |
| Compound Drive Variable Palm Manipulator |
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| DOI：10.3969/j.issn.1005 2895.2019.06.001 |
| 中文关键词: 机械手 刚柔耦合手指 复合驱动 接触力分析 接触点高度 |
| 英文关键词:manipulator rigid flexible coupling finger compound drive contact force analysis contact point height |
| 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: |
| 为满足轻工业中复杂对象（形状、尺寸变化范围大）的抓持需求，课题组设计了一种复合驱动变掌机械手。课题组介绍了该新型变掌机械手的工作原理；分析了机械手抓取圆柱体与长方体时的力学模型；研究了抓取圆柱体时半径与机械手指根节转动角度对接触力大小与接触点高度的影响。结果表明该机械手在理论上可以实现对宽度为0~200 mm的物体的可靠抓取，并可实现对接触力与接触点高度的精确控制。该机械手具有一定的实用价值，可应用于实际生产提高生产效率。 |
| 英文摘要: |
| In order to meet the demand of grasping complex objects (large range of shape and size variation) in light industry, a kind of compound drive variable palm manipulator was designed by the research group. The working principle of the manipulator was introduced. The mechanical model of manipulator grasping cylinder and cuboid was analyzed. The influences of the radius and the rotation angle of the root joint of the mechanical finger on the contact force and the height of contact point were discussed in detail. The results show that in theory the manipulator can reliably grasp objects with a width of 0~200 mm, and can accurately control contact force and contact point height. The manipulator has a certain practical value, and its application in actual production can improve production efficiency. |
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