具有自适应能力的3指机械手爪的设计与实现  

Design and implementation of the three-finger mechanical gripper with self-adaptive capacity

作　　者：张颖 乔贵方[1] 万其[1] 范中凯 ZHANG Ying;QIAO Gui-fang;WAN Qi;FAN Zhong-kai(School of Automation,Nanjing Institute of Technology,Nanjing 211167)

机构地区：[1]南京工程学院自动化学院,江苏南京211167

出　　处：《机械设计》2020年第11期102-108,共7页Journal of Machine Design

基　　金：江苏省高等学校自然科学研究面上项目(17KJD460006);南京工程学院高层次人才引进项目(YKJ201717)。

摘　　要：机械手爪作为机器人的作业工具,其重要性随着机器人的广泛使用更为突显。文中基于欠驱动系统,采用腱绳传动的方式设计了一种3指机械手爪,该手爪既简化了手爪结构的复杂程度,又实现了对物体的包络抓取和捏取动作。首先采用Solid Works软件设计了3指机械手的三维模型,手指和底座、指节与底座间通过转轴连接,每个手指包括3个指节,第1和第3指节通过柔性的第2指节连接;其次对手爪进行了静力学分析,分析了手爪稳定抓取的条件,并用MATLAB中的机器人工具箱对手爪进行了运动学仿真;最后,对设计的机械手爪进行加工制作与试验验证,结果表明该机械手爪在包络抓取和捏取实物时具备良好的可行性和自适应性。As an operating tool,the mechanical gripper is more and more important with the widespread use of robots. In this article,the three-finger mechanical gripper is designed based on the underactuated system and by means of tendon rope transmission. The design simplifies the complexity of the gripper structure,and the gripper is able to grasp and pinch objects. Firstly,the three-dimensional model of the three-finger mechanical gripper is set up by means of the Solid Works software. The gripper is composed of fingers and the palm linked by a spindle. Each finger includes three knuckles;the first knuckle and the third knuckle are connected by the flexible second knuckle. Secondly,the statics is analyzed,and the conditions of stable grasp are identified. The kinematic simulation is conducted based on the robot’s toolbox in MATLAB. Finally,the gripper is tested,and the results show that it has desirable feasibility and adaptive capacity.

关 键 词：3指机械手爪 欠驱动 自适应 柔性 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]