| 徐蕊， 许勇*， 刘佳莉， 杜静恩， 刘凌霄， 王艳.基于空间闭链连杆机构的可折展手爪设计[J].轻工机械,2022,40(4):26-33 |
| 基于空间闭链连杆机构的可折展手爪设计 |
| Design of Foldable Gripper Based on Spatial Closed Chain Linkage Mechanism |
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| DOI：10.3969/j.issn.1005 2895.2022.04.005 |
| 中文关键词: 可折展手爪 空间闭链 Bricard机构 同步驱动副 |
| 英文关键词:foldable gripper spatial closed chain Bricard mechanism synchronous driving pair |
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| 中文摘要: |
| 为了解决多关节手指和手爪多为刚性连接而运动范围有限等问题，课题组基于单自由度面对称Bricard空间闭链连杆机构，提出了一种手指单关节驱动机构。将多个单关节驱动机构串联，组合为一个单自由度的多关节手指驱动机构；进一步，通过课题组提出的单自由度同步驱动副，可同步驱动手爪中的3根多关节手指同步开合、抓取目标物体；在进行可折展手爪的运动学分析和参数求解之后，完成了可折展手爪的样机实验。验证结果表明提出的可折展手爪驱动机构设计合理、抓取性能可靠。 |
| 英文摘要: |
| To solve the current problem of limited range of motion of the multi joint fingers and grippers with mostly rigid connections, a single finger joint drive mechanism was proposed based on the single DOF plane symmetric Bricard spatial closed chain linkage mechanism. Firstly, multiple single joint drive mechanisms were connected in series to form a single degree of freedom multi joint finger drive mechanism. Furthermore, the proposed single degree of freedom synchronous driving pair can synchronously drive three multi joint fingers in the gripper to open and close synchronously to grasp the target object. Finally, after performing the kinematics analysis and parameter solution of the foldable gripper, the prototype experiment of the gripper was conducted. The results show that the proposed foldable gripper is reasonable in design and reliable in grasping performance. |
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