柔性机械手驱动方式及结构方案设计  

Design of Flexible Manipulator Driving Mode and Structure Scheme

作　　者：王熙杰 Wang Xijie(Hunan Vocational College of Railway Science and Technology,College of Railway Locomotive,Zhuz Hunan 412000,China)

机构地区：[1]湖南铁路科技职业技术学院铁道机车学院,湖南株洲412000

出　　处：《机械管理开发》2024年第3期120-121,124,共3页Mechanical Management and Development

基　　金：湖南省教育厅科学研究项目(21C1319)。

摘　　要：机械手控制灵巧性的特点在许多领域得到应用。在分析平动机械手和三爪机械手不足的基础上,采用流体容积控制方法并结合等压腔原理设计一种柔性可调的机械手。通过分析机械手驱动方式的优缺点,选取气体驱动形式,并给出了设计方案以及设计结果。该研究可为后续开展详细的设计以及动力学分析奠定一定的基础。The characteristics of manipulator control dexterity have been applied in many fields.In this paper,based on the analysis of the shortage of translational manipulator and three-claw manipulator,a flexible and adjustable manipulator is designed by using fluid volume control method and combining with the principle of isobaric cavity.By analyzing the advantages and disadvantages of manipulator drive mode,select the gas drive form.The design scheme and results are given.This study lays a foundation for further detailed design and dynamic analysis.

关 键 词：柔性机械手 气体驱动 结构设计 流体容积 

分 类 号：TH137[机械工程—机械制造及自动化]