一种刚柔结合柔性夹持器的设计  

Design and experimental study of rigid-flex grippers

作　　者：涂德浴[1] 赵虎 朱庆 陈武杰 TU Deyu;ZHAO Hu;ZHU Qing;CHEN Wujie(School of Mechanical Engineering,Anhui University of Technology,Maanshan 243032,China;Anhui Provincial Key Laboratory of Special Heavy-Duty Robot,Maanshan 243032,China;Anhui Intelligent Demolition Equipment Engineering Laboratory,Maanshan 243032,China)

机构地区：[1]安徽工业大学机械工程学院,马鞍山243032 [2]特种重载机器人安徽省重点实验室,马鞍山243032 [3]安徽省智能破拆装备工程实验室,马鞍山243032

出　　处：《现代制造工程》2023年第10期120-125,共6页Modern Manufacturing Engineering

基　　金：安徽省高校自然科学研究重点项目(KJ2021A0403);特种重载机器人安徽省重点实验室开放基金项目(TZJQR003-2022);安徽省智能破拆装备工程实验室项目(APELIDE2021B005)。

摘　　要：为解决传统刚性夹持器适应性差和软体夹持器夹持范围较小的问题,提出了一种刚柔结合柔性夹持器的设计方案,其中刚性的曲柄滑块机构采用铝合金材料制作,柔性的气动软体驱动器则由乳胶气囊以及纤维布两部分组成。通过滑块平移带动夹爪转动,实现夹爪张开和闭合,再通过调整供气气压控制夹持范围。基于ADAMS软件对刚性机构进行运动学分析,再仿真并结合实验,研究气动软体驱动器的动态特性,确定其最佳尺寸。最后,对样机进行实验测试,实验结果表明,设计的夹持器自适应性好、夹持范围较大。In order to solve the problems of poor adaptability of traditional rigid gripper and small range of soft gripper,a rigid and flexible combination gripper design scheme was proposed.The rigid crank slider mechanism is made of aluminum alloy material,and the flexible pneumatic soft driver is composed of latex air bag and fiber cloth.The jaw is rotated by sliding block translation to realize the opening and closing of the jaw,and then the clamping range is controlled by adjusting the air supply pressure.The kinematic analysis of the rigid mechanism was carried out based on ADAMS software,and then the dynamic characteristics of the pneumatic soft actuator were studied by simulation and experiment,and the optimal size was determined.Finally,the prototype was tested,and the experimental results show that the gripper designed in this scheme has good adaptability and wide gripper range.

关 键 词：刚柔结合 气动软体驱动器 动态特性 自适应性 

分 类 号：TH122[机械工程—机械设计及理论] TB38[一般工业技术—材料科学与工程]