变胞抓取机械手设计及空间位置分析  

Design and Analysis of Morphing Manipulator Hand

作　　者：李宝康 黄庆辉 许伟 肖一浩 林思安 王继荣[1,2] LI Baokang;HUANG Qinghui;XU Wei;XIAO Yihao;LIN Sian;WANG Jirong(College of Mechanical and Electrical Engineering,Qingdao 266071,China;Weihai Innovation Research Institute,Qingdao University,Weihai 264200,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071 [2]青岛大学威海创新研究院,山东威海264200

出　　处：《青岛大学学报(工程技术版)》2024年第4期61-67,共7页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：科技部国家重点研发计划项目(2019YFC0120000)。

摘　　要：针对古沉船中不同造型的陶瓷器打捞易受损等问题,本文设计了一种抓取陶瓷器的变胞机械手用于打捞3种不同造型的陶瓷器。基于变胞原理设计了变胞机械手结构,采用旋量理论分析了变胞手掌的不同构型下的的运动旋量系以及约束旋量系,求解了变胞手掌的活动度与灵巧性;通过分析变胞手掌不同构型下手指的空间位置,分析了手指的工作平面变化对抓取不同造型陶瓷器的可靠性和稳定性的影响。变胞抓取机械手的可变胞的优点为相关变胞机械手的设计和应用提供参考依据。To improve the vulnerability of ceramics with different shapes found in ancient sunken ships,a variable-cell mechanical hand for grasping ceramics was designed.The structure of the variable-cell mechanical hand was based on the principle of variable cells.Furthermore,the kinematic systems of different configurations of the variable-cell palm were analyzed using the theory of vector calculus.The kinematic systems of the constrained variables were then derived.Moreover,the dexterity of the variable-cell palm was evaluated.The finger installation positions were determined,and the spatial positions of the fingers in various configurations of the variable-cell palm were analyzed.Additionally,the impact of changes in the working plane of the fingers on grasping ceramics with different shapes was studied.The proposed variable-cell grasping mechanical hand offers the advantage of adjustable cells,and it provides a reference for the design and application of related mechanical hands.

关 键 词：变胞原理 构型分析 抓取机械手 空间位置分析 

分 类 号：TH122[机械工程—机械设计及理论]