差动瓦特连杆直线平夹自适应抓持器  

A Straight Parallel Pinch and Self-adaptive Gripper with Differential and Watt Linkages

作　　者：梁博 田源 张文增 LIANG Bo;TIAN Yuan;ZHANG Wenzeng(College of Information and Electrical Engineering,China Agricultural University,Beijing 100091,China;Open FIESTA,Tsinghua Shenzhen International Graduate School,Shenzhen 514231,China;Robotics Lab,X-Institute,Shenzhen 518122,China)

机构地区：[1]中国农业大学信息与电气工程学院,北京100091 [2]清华大学深圳国际研究生院国际开放创新教育中心,广东深圳514231 [3]深圳零一学院机器人实验室,广东深圳518122

出　　处：《机器人》2023年第6期691-697,709,共8页Robot

摘　　要：现有的平夹自适应抓持器不能实现末端直线轨迹运动,导致其存在抓取盲区。针对此问题,本文提出一种新型平夹自适应手指——Watt手指。该手指采用瓦特连杆机构实现末端指段的直线轨迹运动,结合平行四连杆机构保持末端指段在初始阶段的固定姿态,并利用三角形差动连杆机构实现自适应抓取。Watt手指在初始阶段具有直线平行夹持功能,适合捏持桌面上不同尺寸的物体;当第1或第2指段接触物体被阻挡时,该装置自动进入自适应抓取模式,可以适应不同形状、尺寸的物体。对该Watt手指进行了运动学分析,获得了该手指的稳定抓取空间和相对优化的参数集合。研制了二指Watt手,理论分析与实验结果表明,Watt手可实现良好的直线平夹与自适应抓取效果,直线轨迹使得该手具有更大的抓取空间,适应范围更广。The existing parallel pinch and self-adaptive grippers cannot realize the straight-line trajectory movement of the end phalanx,resulting in a grasp blind zone.In order to solve this problem,a novel parallel pinch and self-adaptive finger is proposed,named Watt finger.The finger adopts the Watt linkage to realize the straight-line trajectory movement of the end phalanx,combines the parallel linkages to maintain the fixed attitude of the end phalanx at the initial stage,and uses the triangular differential linkage to achieve self-adaptive grasp.The Watt finger has a straight parallel pinch function at the initial stage,which is suitable for pinch objects of different sizes on the table.When the first or second phalanx touching the object is blocked,the device automatically enters the self-adaptive grasp mode,which can adapt to objects of different shapes and sizes.The kinematics of Watt finger is analyzed,and the stable grasp space and a relatively optimized parameter set of the finger are obtained.A new robot hand with two Watt fingers is developed,and the theoretical analysis and experimental results show that theWatt hand achieves a good straight parallel pinch and self-adaptive effect,and the straight-line trajectory makes the hand have a larger grasp space and a wider range of adaptation.

关 键 词：机器人手 欠驱动手指 自适应抓取 直线平夹 瓦特连杆 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]