机器人强力夹持器改进设计  

Improvement design of the powerful robot gripper

作　　者：蒋国生[1] 

机构地区：[1]永州职业技术学院机电工程系,湖南永州425000

出　　处：《湖南农机（学术版）》2013年第4期41-44,47,共5页Hunnan Agricultural Machinery

摘　　要：文章阐述了机器人的发展历程和机器人夹持器的现状,通过对各种常用机械手夹持器的机构部分和驱动部分的了解和分析,设计出能实现五点接触夹持的机器人夹持器,该机构通过一个电机的转动提供两个直线方向的驱动力来实现夹持器夹持机构的夹持和打开运动。这个设计的优点是只需要一个电机来驱动多个机构运动,从而可以简化机构,而且它是采用五点包裹夹持的形式对物体进行强力抓取,所以可以把物体抓的更牢固。这个设计的应用范围是直径在80mm到150mm的圆柱型物体。This article explains the current situation of robot gripper and the development process of robot,by under- standing and analyzing various of commonly used mechanism section and driving section of robot gripper ,the article have designed a five-point contact holder of robot gripper, which is actuated by a motor rotation to provide the driving force of two linear directions to achieve the clamping of the clamping mechanism of the gripper and the opening movement. The advantage of this design is only needing a motor to drive the movement of a number of organizations, which can simplify the institutions, and it is strongly clamped by the form of five-point wrapped, so you can grasp objects more .firmly. The scope of application of this design is the diameter of 80 mm to 150 mm cylindrical objects.

关 键 词：机器人 夹持器 结构优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]