机械手夹持接触力及力封闭分析  

Analysis of gripping contact force and force-closure of manipulator

作　　者：吴永宏[1] 李群明[1] 

机构地区：[1]中南大学现代复杂装备设计与极端制造教育部重点实验室,湖南长沙410083

出　　处：《中南大学学报（自然科学版）》2009年第6期1580-1586,共7页Journal of Central South University:Science and Technology

基　　金：国家重点基础研究发展计划("973"计划)项目(2006CB705400)

摘　　要：为合理确定机械手稳定夹持时的夹紧力,采用弹性线接触理论计算在工件上施加预紧力后机械手V型体与工件之间的接触压力,并分析手指处于不同工况位置时接触压力的变化,在此基础上计算不同工况位置时指端两V型体的夹紧力。以力螺旋理论为基础,建立手指与工件的接触模型,应用力封闭原理分析稳定夹持时接触压力与工件外力之间的关系,提出手指夹持工件时的稳定性判定方法,并针对实例计算接触力及夹紧力。研究结果表明:该方法可以用于准确计算V型体的夹紧力,并进行力封闭性判别,能够为机械手结构设计及其控制系统设计提供可靠的参数值。In order to reasonably ascertain grasping force of manipulator while stably grasping, the contact force between V style finger tip and object due to the pre-tighten force was calculated based on the line contact theory, and the change of the contact force with the finger tip on the different positions was analyzed. The grasping force of the V style finger tip was calculated based on the contact force. The contact model of the finger tip and object was established based on the force spiral theory. The relation between external force and the contact force with stably grasping was analyzed by using force closure principle, and the method for calculating the stability of grasping was founded. The contact force and grasping force of one grasping instance were calculated. The results show that the grasping force and the stability of the V style finger tip can be accurately calculated, and the reliable value of the parameters can be supplied for the design of the manipulator and its control system.

关 键 词：V型手指 接触力 夹紧力 力螺旋 力封闭抓取 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]