基于水下典型操作任务的机械手爪结构设计  

Structure Design of Mechanical Hand Based on the Typical Underwater Operating Assignment

作　　者：刘正士[1] 朱光胜[1] 王勇[1] 葛运建[2] 

机构地区：[1]合肥工业大学机械与汽车工程学院,合肥230009 [2]中科院合肥智能机械研究所,合肥230031

出　　处：《组合机床与自动化加工技术》2005年第8期60-61,共2页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金(60175027);国家863项目(2001AA423300)

摘　　要：文章首先对几种典型的机器人用机械手爪进行比较,综合考虑具体的作业环境、抓取能力和设计方案的简便性、可靠性,确定选取三爪结构。接着进行结构设计,用直流伺服电机驱动,用推动螺杆、平行四杆机构和曲柄滑块机构的组合而成的机构作为运动变换单元。并且设计了导向装置。同时,进行了防水设计。最后基于机械手爪的水下典型操作任务对传感器进行了合理的布置。Firstly. this paper compares some typical kinds of mechanical hands of robot . Considering the requires of operating surroundings, ability of grasping, singularity and reliability of the designs, we choose the hand with three grippers. Secondly , we design the hand＇s structure , using line servo to give force to system , and using impel-screw to transfer force , and choosing combine structure with three parallel four-pole machine and brace-slippery machine , a series of oriented machine is also designed. At the same time, we do the waterproofing design . At last, sensors are disposed reasonably based on the typical underwater operating assignment.

关 键 词：机械手爪 结构设计 防水设计 传感器 

分 类 号：TD241[矿业工程—矿井建设]