一种带块式指节限位机构模块化机械手的研究  

Research of a modular manipulator with block knuckles limit mechanism

作　　者：王立杰[1] 岳侗 李明杰 张国庆 WANG Lijie;YUE Tong;LI Mingjie;ZHANG Guoqing(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037

出　　处：《现代制造工程》2023年第6期33-38,63,共7页Modern Manufacturing Engineering

基　　金：江苏省“六大高峰人才”项目(第七批次013040024)。

摘　　要：为了解决现有欠驱动模块化机械手指节限位机构结构复杂、更换手指不方便及功能单一的问题,基于欠驱动原理设计了一种采用块式指节限位机构的模块化机械手。块式指节限位机构结构简单,模块化手指更换方便,可以实现多功能抓取和捏取。采用机构静力学分析方法,对机械手捏取状态下的手指进行了静力学分析,推导出了末端指节的接触力计算公式。采用ADAMS软件对机械手进行了接触力分析,仿真结果表明,模块化机械手可稳定包络抓取直径为80~150 mm的3种球状物体,接触力控制在5.86~13.91 N,可包络抓取直径为60~100 mm的3种圆柱状物体,接触力控制在9.16~18.69 N,可捏取厚度为0~12 mm的2种薄片状物体,接触力可以达到任意设定值。研究设计的机械手通用性强,适用范围广,为机械手的研发提供了参考。In order to solve the problems of complicated structure,inconvenient finger replacement and single function of the existing underdriven modular manipulator knuckles limit mechanism,a modular manipulator with block knuckles limit mechanism was designed based on the underdriven principle.The block knuckles limit mechanism has a simple structure and the modular fingers were easy to replace,which can realize multifunctional grasping and pinching.Using the mechanism static analysis method,a static analysis of the fingers in the pinching state of the manipulator was carried out,and the contact force calculation formula of the end knuckle was derived.ADAMS software was used to analyze the contact force of the manipulator,and the simulation results showed that the modular manipulator can steadily envelop grasp three kinds of spherical objects with diameters of 80~150 mm and with contact force control of 5.86~13.91 N,envelop grasp three kinds of cylindrical objects with diameters of 60~100 mm with contact force control of 9.16~18.69 N,be capable to pinch two kinds of thin sliced objects with thickness of 0~12 mm with contact force of any set value.The manipulator designed by the research has strong versatility and wide applicability,which provides a reference for the development of the manipulator.

关 键 词：块式指节 限位机构 模块化 多功能 机械手 ADAMS软件 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]