多功能气动柔性三指机械手设计与实验  

Design and Experiment on Multifunctional Pneumatic Flexible Three-fingered Manipulator

作　　者：李康 刘文东 王璐 田德宝 刘晓敏 LI Kang;LIU Wendong;WANG Lu;TIAN Debao;LIU Xiaomin(Engineering Training Center,Beihua University,Jilin Jilin 132021,China;VOC Detection Station,Jilin Petrochemical Testing Center,Jilin Jilin 132000,China;Mobility Section,Jilin Petrochemical Railway Transportation Department,Jilin Jilin 132000,China)

机构地区：[1]北华大学工程训练中心,吉林吉林132021 [2]吉林石化检测中心VOC检测站,吉林吉林132000 [3]吉林石化铁路运输部机动科,吉林吉林132000

出　　处：《机床与液压》2021年第9期16-20,共5页Machine Tool & Hydraulics

基　　金：吉林省教育厅“十三五”科学技术研究项目(JJKH20200038KJ)。

摘　　要：基于自主研制的气动柔性关节设计一种多功能三指机械手,通过放置于手指连接件的回转气缸可以调节柔性手指的位置,以适应不同形状和尺寸物体的抓取。利用ADAMS进行机械手的运动和抓取仿真,并进行柔性手指静力学实验、机械手位姿和抓取实验。仿真和实验结果表明:该机械手具有抓、握和勾3种抓握模式,可以灵活地抓取不同尺寸的球形、方形、三角形和圆柱形等物体。气动柔性手指最大弯曲角度为275°,最大夹持力为5.5 N;该机械手抓取物体最大直径为250 mm,质量为1 kg。A new multifunctional three-fingered manipulator was designed based on the self-developed pneumatic flexible joints.The position of the flexible fingers could be adjusted by rotary cylinder placed on the connecting part to grasp objects with different shapes and sizes.ADAMS was used to simulate the movement and grasp of the manipulator,and the static experiment of the flexible finger,the pose and grasp experiment of the manipulator were carried out.Simulation and experimental results show that the manipulator can grasp spherical,square,triangular and cylindrical objects with different size flexibly applying three grasp patterns of grasp,envelop grasp and finger hook.The maximum bending angle and maximum clamping force of the pneumatic flexible finger is 275°and 5.5 N respectively;the manipulator can grasp objects with a maximum diameter of 250 mm and a weight of 1 kg.

关 键 词：机械手 柔性关节 抓取模式 气压 

分 类 号：TH138.5[机械工程—机械制造及自动化]