新型抓持器的设计与仿真分析  

Design and simulation analysis of a novel gripper

作　　者：廖云峰[1] 张雷雨[1] 杨洋[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《机械设计》2016年第5期20-25,共6页Journal of Machine Design

摘　　要：针对待抓持物件存在的姿态偏差,提出了一种具有姿态矫正功能的抓持器。基于非线性连续碰撞理论,对卡爪与物件间的碰撞力进行动力学建模,并提出了抓持过程中碰撞力的计算方法。在ADAMS环境下建立了抓持系统的虚拟样机模型,通过对抓持过程的动力学仿真,讨论了物件存在的不同姿态偏差与抓持成功之间的关系。仿真结果表明,该抓持器对物件具有一定的姿态矫正能力,同时得到了能够成功进行姿态矫正的角度偏差范围。Aiming at the existing posture deviation of the gripped objects,a gripper with the function of posture correction was presented.Based on the theory of nonlinear continuous collision,the dynamic model of the collision force between the claw and the object was established and a calculation method for the collision force during the gripping process was presented.A virtual prototype model of the gripping system was established using ADAMS software.Meanwhile,the relationship between the existed posture deviation of the object and successful grip was discussed through the dynamic simulation of the gripping process.The simulation results indicated that the gripper was capable of rectifying the object posture.In addition,the range of posture correction angle deviation in a successful gripping process was obtained.

关 键 词：抓持器 姿态矫正 碰撞力 接触动力学 

分 类 号：TH122[机械工程—机械设计及理论]