拆装机器人灵巧手控制系统研究  

Research on the Control System of Installing Robot's Dexterous Hand

作　　者：和金星 杨志成[1] 陆根财 唐宇欣 闫文舟 孙海洋 HE Jinxing;YANG Zhicheng;LU Gencai;TANG Yuxin;YAN Wenzhou;SUN Haiyang(Beijing Union University,Beijing 100101,China)

机构地区：[1]北京联合大学,北京100101

出　　处：《仪表技术》2024年第6期79-82,共4页Instrumentation Technology

基　　金：北京联合大学“启明星”大学生科技创新项目(20232008)。

摘　　要：为了提高拆装机器人在控制工件时的控制能力与灵活性,综合设计制作了一种能够在狭窄空间内精准控制工件进行给进、退出及翻转动作的灵巧手。根据工件参数确定了灵巧手尺寸,采用SolidWorks软件构建了灵巧手的整体模型,设计了灵巧手的指部结构。针对机器人的运动需求,设计了一套控制系统,并制作样机进行机器人控件实验。实验结果表明,所设计的机器人结构可以稳定执行给进、退出及反转等控制动作,且灵巧手系统表现出高度的安全性和可靠性。实验结果与仿真控制效果一致,验证了拆装机器人灵巧手设计方案的可行性与有效性。In order to improve the control capability and flexibility of the disassembly robot in controlling workpieces,a dexterous hand that can accurately control the workpiece to perform feeding,exiting,and flipping actions in narrow spaces has been designed and manufactured.The size of the dexterous hand was determined based on the workpiece parameters,and the overall model of the dexterous hand was constructed using SolidWorks software.The finger structure of the dexterous hand was designed.A control system was designed to meet the motion requirements of robots,and a prototype was made for robot control experiments.The experimental results show that the designed robot structure can stably execute control actions such as feeding,exiting,and reversing,and the dexterous hand system exhibits high safety and reliability.The experimental results are consistent with the simulation control effect,verifying the feasibility and effectiveness of the design scheme for the dexterous hand of the disassembly and assembly robot.

关 键 词：灵巧手 拆装机器人 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]