一种柔性机械手设计与分析  

Design and Analysis of a Flexible Manipulator

作　　者：王作桓 莫浩明 梁国威 李宇凡 王可涵 周杰 WANG Zuohuan;MO Haoming;LIANG Guowei;LI Yufan;WANG Kehan;ZHOU Jie(Huali College,Guangdong University of Technology,Guangzhou 511300,China)

机构地区：[1]广东工业大学华立学院

出　　处：《机电工程技术》2019年第9期135-137,共3页Mechanical & Electrical Engineering Technology

基　　金：广东大学生科技创新培育专项资金项目(编号:pdjh2018b0630);全国大学生创新创业训练计划项目(编号:201813656020)

摘　　要：针对传统机械手多为恒定力矩,抓取易碎物品,容易造成损坏、抓不牢摔坏,该机械手柔性关节用拉簧连接,用平带拉伸传动,起减震,缓冲效果,机械手弯曲时,手指骨节灵活、缓慢弯曲,使机械手手指缓慢弯曲,达到柔性特征,该机械结构使之具有软属性,表面附加一层软硅胶,提高机械手的感知度、仿生能力、灵活性、柔性、软抓取效果。In view of the fact that the traditional manipulator mostly has constant moment and grasps fragile objects,which is easy to cause damage and failure to grasp,the flexible joint of the manipulator is connected by a pull spring,the transmission is stretched by a flat belt,the vibration is absorbed and the cushioning effect is achieved.When the manipulator bends,the knuckles of the fingers are flexible and slowly bent to achieve its flexible characteristics.The mechanical structure makes them have soft properties and a layer of soft surface is added.Silica gel improves the perception,bionic ability,flexibility,flexibility and soft grasping effect of the manipulator.

关 键 词：机械手 柔性 软抓取 Matlab结构设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]