高适应性3指变位机械手爪的设计与研究  

Design and research of highly-adaptive three-finger displacement mechanical gripper

作　　者：姚宇航 王琨 程博 万年辉 YAO Yuhang;WANG Kun;CHENG Bo;WAN Nianhui(School of Mechanical Engineering,Jiangnan University,Wuxi 214122;Shenzhen Branch,China National Offshore Oil Corporation,Shenzhen 518054)

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]中海石油(中国)有限公司深圳分公司,广东深圳518054

出　　处：《机械设计》2023年第11期24-29,共6页Journal of Machine Design

基　　金：江苏省产业前瞻与关键核心技术重点项目(BE2020006-5)。

摘　　要：随着机器人在农业和物流等行业的广泛应用,抓取对象形状和体积呈多样化,对机器人的末端执行器即机械手爪的适应性提出更高要求。针对该问题,文中基于欠驱动的方式设计了一种具有高适应性功能的3指变位机械手爪。首先,建立3指机械手的三维模型,分析其平夹和包络抓取两种抓取模式;其次,对该结构进行力学分析包括弹簧的力学分析和手指的力学分析;最后,进行3指机械手样机加工研制和试验。试验结果表明:该机械手爪能够针对不同的物体实现稳定抓取,适应性高。With the wide use of robots in agriculture,logistics and other industries,the shape and volume of grasped objects are diversified,which puts forward higher requirements for the adaptability of the robot's end effector,that is,the mechanical gripper.In order to solve this problem,in this article,efforts are made to design a three-finger displacement mechanical gripper with high adaptability by means of the under-actuated method.Firstly,the three-dimensional model of the three-finger mechanical gripper is set up,and the analysis is conducted on the two motion modes of flat clamping and envelope grasping.Secondly,the structure is subject to the mechanical analysis,including the spring and the fingers.Finally,the prototype of the three-finger mechanical gripper is manufactured and tested.The experimental results show that the mechanical gripper can grasp different objects adaptively and stably.

关 键 词：机械手爪 欠驱动 自适应 平行夹取 包络抓取 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]