连杆型欠驱动机械手指设计及抓取稳定性分析  

Design and Grasping Stability Analysis of Link Type Underactuated Mechanical Fingers

作　　者：王琦[1,2] 唐术锋 张慧杰[2] 程曦 WANG Qi;TANG Shufeng;ZHANG Huijie;CHENG Xi(School of Mechanical Engineering,Inner Mongolia University of Technology,Hohhot 010051,China;Inner Mongolia Key Laboratory of Intelligent Robot for Special Purposes,Hohhot 010051,China)

机构地区：[1]内蒙古工业大学机械工程学院,呼和浩特010051 [2]内蒙古自治区特殊服役智能机器人重点实验室,呼和浩特010051

出　　处：《机械设计与研究》2023年第1期59-62,70,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(61763036);内蒙古自治区关键技术攻关计划项目(2021GG0258);内蒙古自治区自然科学基金资助项目(2021MS05005);国家重点研发计划专项资助项目(2018YFB1307501);内蒙古自治区高等学校创新团队发展计划(NMGIRT2213);自治区直属高校基本科研业务费(JY20220046)项目。

摘　　要：针对欠驱动机械手爪的抓取稳定性问题,提出并设计了一种新型连杆机械手指;该机械手指通过多连杆的联动组合,尽可能的提升抓取过程中手指与物体的接触面,以获得更好的抓取效果;并通过机械手指抓取过程中连杆对物体作用关系及抓取过程中手指接触力的变化对抓取稳定性展开分析;最后,将其搭载到机械手手掌上对其进行了抓取稳定性实验,实验结果表明该手指具有很好的抓取稳定性。Aiming at the problem of grasping stability of underactuated mechanical grippers,a new type of connecting rod mechanical finger is proposed and designed in this paper.Through the linkage combination of multiple connecting rods,the mechanical finger can improve the contact surface between the finger and the object in the grasping process as much as possible,so as to obtain better grasping effect.The grasping stability is analyzed through the action relation between the connecting rod and the object and variation in the finger contact force in the process of mechanical finger grasping.Finally,the experiment of grasping stability is carried out on the palm of the manipulator.The experimental results show that the finger has good grasping stability.

关 键 词：欠驱动机械手爪 抓取稳定性 连杆机械手指 手指接触力 

分 类 号：TH12[机械工程—机械设计及理论]