一种多抓取模式夹持器的设计与实验  

Design and Experiment of a Multi-mode Gripper

作　　者：赵春辉 万小金[1,2,3] Zhao Chunhui;Wan Xiaojin(School of Automotive Engineering,Wuhan University of Technology,Wuhan 430070,China;Hubei Key Laboratory of Advanced Technology for Automotive Components,Wuhan 430070,China;Hubei Key Collaborative Innovation Center for Automotive Components Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学汽车工程学院,湖北武汉430070 [2]现代汽车零部件技术湖北省重点实验室,湖北武汉430070 [3]汽车零部件技术湖北省协同创新中心,湖北武汉430070

出　　处：《机械传动》2023年第10期90-95,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(52075403)。

摘　　要：设计了一种具有多种抓取模式的广义夹持器,使其能够抓取各种薄板零件。该夹持器集成了两组由紧凑型力传递机构驱动的手指;采用D-H法建立了夹持器空间多连杆机构的运动学模型;以最大化工作空间、机械增益和结构刚度为目标进行多目标优化,得到3组夹持器结构参数,并通过Adams软件构建虚拟样机,将优化过程的结果与虚拟样机的结果进行比较,验证了所提出的优化方法可以获得更大的工作空间和更大的机械增益;最后,根据优化后的参数,试制夹持器模型,并通过3种不同的抓取方式实验验证了该结构进行板材抓取的可行性。In this study,a generalized gripper with multiple modes is designed so that it can grasp various sheet parts.The gripper lies in two sets of fingers and two sets of compact force transmission mechanisms.First⁃ly,a kinematic model of the hybrid spatial multi-linkage mechanism of gripper is established by means of the D-H method.Multi-objective optimization is performed to maximize workspace,mechanical gain,and structural stiffness;three groups of gripper structure parameters are obtained to construct the virtual prototype;by compar⁃ing the results of the optimization process with those of the virtual prototype,the results indicate that the pro⁃posed optimization procedure can acquire a larger workspace and greater mechanical gain.Finally,according to the optimized parameters,a generalized gripper is manufactured.Three different grasping mode experiments are carried out to verify the feasibility of the gripper.

关 键 词：广义夹持器 多抓取模式 空间连杆机构 多目标优化 

分 类 号：TH122[机械工程—机械设计及理论]