气动肌肉驱动手爪的设计与分析  

Design and Research on the Gripper Actuatied by Pneumatic Muscles

作　　者：卫玉芬[1] 杨琪文[1] 

机构地区：[1]扬州职业大学,江苏扬州225009

出　　处：《机械设计与研究》2010年第6期58-60,共3页Machine Design And Research

摘　　要：安全柔顺地抓取物体是机器人手爪的一项重要指标,气动肌肉作为一种类似生物肌肉的柔性驱动器,可以有助于实现这一目标。讨论了基于生物运动机制的仿人两指手爪的结构和工作原理,建立了气动肌肉驱动手指夹持力的理论模型,指出气动肌肉的输入压力是决定手指抓取力与手指张角大小的唯一因素。实验证实了该手爪可有效地抓取多种易碎、柔软的物体。One of the important requirements of a robot gripper is grasping objects in a safe and compliant way.Pneumatic muscles can be used for this purpose owing to their similar features like natural muscles.In this paper,a new type of robot gripper with two fingers actuated by 4 pieces of pneumatic muscle is presented.The static model of the finger grasping force is built.It shows the pressure of the pneumatic muscle to be the only factor in determining the finger grasping force.Experimental results verify that the gripper designed in this paper can grasp soft or fragile objects effectively.

关 键 词：气动肌肉 手爪 柔顺性 抓取操作 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]