基于四点探测法的气动机器人抓手的设计  

The Grab Design of Pneumatic Robot Based on Four Point Detection

作　　者：何东明 吴刚 钟先友 He Dongming;Wu Gang;Zhong Xianyou(College of Mechanical&Power Engineering of China Three Gorges University,Yichang Hubei 443002)

机构地区：[1]三峡大学机械与动力学院,湖北宜昌443002

出　　处：《机械管理开发》2020年第2期1-2,19,共3页Mechanical Management and Development

摘　　要：对码垛/搬运类气动机器人进行抓手的机械结构设计和气动控制系统设计,就机器人视觉问题独创性地提出了四点探测法并引入到抓手设计中,详细分析了四点探测法在抓手抓取工件时的偏差修正作用,并将本研究的设计应用在实际的工业生产中,以实际测试结果验证本抓手设计的可行性和稳定性。In this study,the mechanical structure design and pneumatic control system design of the pneumatic robot for palletizing/handling are carried out,and then the four-point detection method is creatively put forward and introduced into the grab design for the problem that the grab can not grasp the workpiece caused by the robot’s lack of vision.After that,the deviation correction of the four-point detection method when the grab grasps the workpiece is described in detail.Finally,the The design is applied in the actual industrial production,and the actual test results verify the feasibility and stability of the grab design.

关 键 词：四点探测法 气动控制 工业机器人 抓手设计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]