单自由度灵巧手指的结构优化设计  

Structural optimization design of single-degree-of-freedom dexterous finger

作　　者：杜鑫 王荣峥 DU Xin;WANG Rongzheng

机构地区：[1]潍坊工程职业学院机电工程学院,山东潍坊262500 [2]淄博职业学院电子电气工程学院,山东淄博255314

出　　处：《现代机械》2024年第6期54-58,共5页Modern Machinery

摘　　要：提出一种单个自由度关节手指的设计思路,创新采用曲柄滑块机构作为灵巧手指的驱动结构,运用遗传算法优化设计手指结构的各设计尺寸参数,在ADAMS中创建虚拟样机仿真实验手指动作效果,使手指获得最理想的手指按压行程和最优的弹簧安装位置,并作出实物手指验证设计和仿真的准确性和合理性,为研究机器人手指的结构应用到日常生活中提供新的思路。This paper puts forward a design idea of the single-degree-of-freedom joint finger,innovatively adopts the crank slider mechanism as the driving structure of the dexterous finger,uses the genetic algorithm to optimize the design size parameters of the finger structure,and creates a virtual prototype in ADAMS to simulate the finger action effect.The most ideal finger pressing stroke and the best spring installation position are obtained.A physical finger is made to verify the accuracy and rationality of the design and simulation.This study has provided a new idea for studying the structure of robot finger and applying it to daily life service.

关 键 词：灵巧手指 曲柄滑块 遗传算法 优化 虚拟样机 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]