基于小颗粒物真空状态转换的新型机器手  

Based on the small particles of the new vacuum state transition robot

作　　者：张凌志[1] 叶树江[1] 吴明轩[1] 

机构地区：[1]黑龙江工程学院-电气与信息工程学院,黑龙江哈尔滨150000

出　　处：《自动化与仪器仪表》2014年第11期84-85,共2页Automation & Instrumentation

基　　金：黑龙江工程学院博士科研基金项目(2011BJ16)

摘　　要：传统通用机器手都是由多个独立活动关节构成的拟人多指机器手,需要大量的复杂结构和算法,从而导致了其相应的高成本,同时,由于受到计算速度的限制,传统机器手不但抓取动作缓慢且不能完全适应目标物体的形状,甚至可能损坏目标物体。针对传统通用机器手的诸多缺陷,本文设计了一种新型的被动机器手,它由大量的小颗粒物质包裹在一个球状弹性膜中,利用空气正压-负压的组合迅速地抓取和释放普通机器手难以抓取的物体,它具有形状适应性强、控制简单、可靠性高、执行效率高以及成本低等优点,在工业和生活中都将拥有广阔的应用前景。Traditional universal machine hand is personification is composed of a plurality or independent actlvmes ot multi tin- gered robot hand, complex structure and a large number of calculations, which leads to the high cost, the corresponding at the same time, due to the computing speed limit, not only the traditional machine hand grasping movements slow and can not fully adapt to the shape of an object, even may damage the target object. According to the defects of traditional universal machine hand, this paper describes the design of a new passive machine hand, which is composed of small particles wrapped in a large number of spherical elastic membrane, the air pressure and negative pressure combined quickly grab and release of ordinary machine hand to grab ob- jects, it has strong adaptability, shape control simple, high reliability, high efficiency and low cost advantages, in the industrial and life will have broad application prospects.

关 键 词：机器手 小颗粒物 真空状态 正负气压 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]