一种柔性驱动器及自适应夹爪设计与研究  

Design and research of a flexible driver and adaptive gripper

作　　者：刘金荣 蒋小毛 欧佳顺 曾乐[1] LIU Jinrong;JIANG Xiaomao;OU Jiashun;ZENG Le(Changsha Aviation Vocational and Technical College,Changsha 410124,Hunan,China)

机构地区：[1]长沙航空职业技术学院航空机械制造学院,湖南省长沙市410124

出　　处：《农业装备与车辆工程》2023年第9期65-67,73,共4页Agricultural Equipment & Vehicle Engineering

基　　金：湖南省教育厅科学研究项目“基于变刚度的软体机器人样机研制”(21C1566)。

摘　　要：针对现有夹取机构在夹取柔软、易变形、外形结构复杂的物体时无法稳固夹取、精准控制率低、适应性差甚至损坏物体等问题,设计了一种柔性驱动器及自适应夹爪。在刚性夹爪上设置柔性驱动器,在柔性驱动器的外壳内设置气囊,通过调节气囊内的气压控制柔性驱动器的夹持力度;在传动装置中利用蜗轮蜗杆结构的反向自锁特性保证夹持不松动;采用压力传感器实现最优工作模式的选择与切换,以适应刚性和柔性物体的夹取。该抓取机构可自动适应抓取力大小并具备自锁功能,结构简单、适用场合广泛,具有较大的市场推广价值。A flexible driver and adaptive gripper were designed to address the problems of existing gripping mechanisms that cannot maintain fixed gripping when gripping soft,deformable,and complex objects,resulting in low precision control rate,poor adaptability,and even damage to objects.A flexible driver was installed on the rigid gripper and an airbag inside the casing of the flexible driver.The clamping force of the flexible driver on the clamped object was controlled by adjusting the air pressure inside the airbag;The reverse self-locking feature of the worm gear and worm structure in the transmission device were utilized to ensure that the clamping was not loose;Sensors were utilized to feedback the situation of flexible actuators gripping different object forces,and different gripping schemes were selected to adapt to the gripping of rigid and flexible objects.This grabbing mechanism could automatically adapt to the size of the grabbing force and had self-locking function.It has a simple structure and a wide range of applications,and has great market promotion value.

关 键 词：夹取机构 柔性驱动 自适应 自锁 

分 类 号：TH122[机械工程—机械设计及理论]