自锁式欠驱动夹持器结构设计及优化  

Structure Design and Optimization of Self-locking Under-actuated Gripper

作　　者：何淑婷 申燚[1] 戴现令 邱贝贝 潘先锋 袁明新[1,2] He Shuting;Shen Yi;Dai Xianling;Qiu Beibei;Pan Xianfeng;Yuan Mingxin(School of Mechanics and Power Engineering,Jiangsu University of Science and Technology,Zhenjiang 215600,China;Lianyungang Jerry Automation Co.,Ltd.,Lianyungang 222006,China)

机构地区：[1]江苏科技大学机电与动力工程学院,江苏镇江215600 [2]连云港杰瑞自动化有限公司,江苏连云港222006

出　　处：《机械传动》2022年第5期93-99,共7页Journal of Mechanical Transmission

基　　金：国家重点研发计划“智能机器人”重点专项(2018YFB1309100);江苏省科技成果转化专项资金(BA2019092);2021年张家港市产学预研资金项目(ZKCXY2130)。

摘　　要：为了避免自动化生产线上机器人因多品种、多尺寸圆盘类工件夹持时的频繁换夹,提高机器人夹持稳定性和安全性,设计了一种自锁式欠驱动夹持器并进行了结构优化。基于欠驱动原理完成夹持器的结构设计,并通过夹持构型与夹持过程分析,确保了结构自锁和包络夹持的可行性;根据虚功原理及连杆机构的矢量封闭方程,构建了夹持器自适应抓取状态下的静力学建模;根据夹持器各指节夹持力平衡,建立了结构参数优化模型,并引入遗传算法实现了参数优化。数值测试结果表明,相比经验法和Fmincon算法,遗传算法优化的目标值误差分别减少70%、62.5%,且夹持器的夹持力最大偏差分别减少78.3%,61.4%,验证了文中欠驱动夹持器遗传优化设计的优越性,满足了夹持器通过各指节力平衡实现稳定夹持的要求。In order to avoid frequent replacement of fixtures to the robot due to the clamping of disc type workpieces of various varieties and sizes on automated production lines,and improve the stability and safety of robot clamping,a self-locking under-actuated gripper is designed and optimized.The structure design of the gripper is completed based on the under-actuated principle,and the feasibility of structural self-locking and enveloping clamping is ensured through the analysis of the clamping configuration and clamping process.According to the principle of virtual work and the vector closed equation of the linkage mechanism,a static modeling under the adaptive gripping state of the gripper is constructed.A structural parameter optimization model is established according to the balance of the clamping force of each gripper knuckle,and a genetic algorithm is introduced to realize the parameter optimization.Numerical test results show that,compared with the empirical method and the Fmincon algorithm,the target value error optimized by the genetic algorithm is reduced by 70%and 62.5%,and the maximum deviation of the gripper's clamping force is reduced by 78.3%and 61.4%respectively,which verifies the superiority of the genetic optimization design of the proposed under-actuated gripper,and satisfies the stable clamping requirement of the clamper through the balance of the knuckle forces.

关 键 词：圆盘类工件 自锁 欠驱动夹持器 遗传算法 优化设计 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]