| 程晶晶， 莫培煜， 张守京*.多用途搬运机器人末端执行器设计[J].轻工机械,2025,43(5):11-17 |
| 多用途搬运机器人末端执行器设计 |
| Design of End Effector for Multi Purpose Handling Robot |
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| DOI：10.3969/j.issn.1005 2895.2025.05.002 |
| 中文关键词: 机器人；末端执行器；机械手；D H参数法；MATLAB软件 ADAMS软件 |
| 英文关键词:robot end effector mechanical hand D H parameter method MATLAB ADAMS |
| 基金项目:陕西省“秦创原科学家+工程师”队伍建设项目（2024QCY KXJ 030）。 |
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| 中文摘要: |
| 为了实现袜子工厂物料箱搬运和线筒、袜子成品多样化的抓取需求，课题组设计了一款基于双臂搬运机器人的连杆驱动多功能末端执行器。基于模块化设计的托板和机械手分别实现了物料箱的搬运和线筒、袜子的精准抓取，并通过系统化的结构设计使末端执行器的尺寸、形状能够灵活适配工厂多样化搬运需求；采用D H参数法对该末端执行器进行了正、逆运动学分析，得到了手指末端在三维空间中的精确位置和姿态信息；通过MATLAB与ADAMS进行了仿真抓取实验。仿真结果表明：该末端执行器能够实现大物料箱的搬运和线筒、袜子的精准抓取，末端执行器的设计具有合理性、多功能性和实用性，具备较高的实用价值。 |
| 英文摘要: |
| In response to the diverse demands for material boxes handling and spools and sock products grasping in sock factory, a multi functional end effector driven by a linkage based on a dual arm handling robot was designed. Based on modular design, the pallet and mechanical hand have respectively achieved handling of material boxes and precisely grasping of spools and socks. And through systematic structural design, the size and shape of the end effector could be flexibly adapted to the diverse handling needs of the factory. The forward and inverse kinematics analysis of the end effector was conducted using the D H parameter method, the precise position and posture information of the finger end in three dimensional space were obtained. Simulation verification and grasping experiments were conducted using MATLAB and ADAMS.The results show that the end effector is capable of handling large material boxes and accurately grasping spools and socks. The design of the end effector is reasonable, multifunctional, and practical, demonstrating high practical value. |
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