混合工作模式的双路径传动欠驱动机械手设计与接触力学分析  

Design and contact force analysis of dual-path transmission underactuated manipulators with the hybrid working mode

作　　者：曹现刚[1,2] 向敬芳 王鹏 吴旭东 藏家松 CAO Xiangang;XIANG Jingfang;WANG Peng;WU Xudong;ZANG Jiasong(College of Mechanical Engineering,Xi’an University of Science and Technology,Xi’an 710054,China;Shaanxi Provincial Key Laboratory of Intelligent Testing of Mine Mechanical and Electrical Equipment,Xi’an 710054,China)

机构地区：[1]西安科技大学机械工程学院,西安710054 [2]陕西省矿山机电装备智能监测重点实验室,西安710054

出　　处：《机械传动》2025年第2期62-69,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金面上项目(51975468);陕西省科技厅项目(2023-JC-YB-362)。

摘　　要：【目的】针对矸石、木块等煤炭异物形状轮廓不规则、粒度变化范围大、体积较薄的特点,导致煤炭异物难以抓取的问题,提出了一种混合工作模式的欠驱动机械手。【方法】该机械手应用包络抓取与平行抓取分别抓取轮廓不规则物体与薄类物体;通过平行移动改变手指的抓取空间,以适应不同粒度范围内煤炭异物抓取;根据手指的运动过程,提出了不同粒度范围内煤炭异物的抓取方法;建立手指的接触力模型,得到手指抓取时的接触力变化,为该机械手抓取的稳定性研究提供依据。【结果】研究结果表明,该机械手能够满足50~300 mm粒度范围内的矸石与薄类物体的抓取。[Objective]A hybrid working mode underactuated manipulator was proposed to address the problem of difficulty in grasping coal foreign objects such as gangue and wooden blocks,which have irregular shapes and contours,large particle size variations,and thin volumes.[Methods]The manipulator used the envelope grasping and the parallel grasping to grasp irregularly shaped objects and thin objects,respectively.By parallel movement,the grasping space of the fingers was changed to adapt to the grasping of coal foreign objects in different particle sizes.Based on the movement process of fingers,grasping methods for coal foreign objects within different particle sizes were proposed.A contact force model for fingers was established,and the changes in contact force during the finger grasping were obtained,providing a basis for the stability study of the manipulator’s grasping.[Results]The research results indicate that the manipulator is capable of grasping gangue and thin objects within the particle size range of 50-300 mm.

关 键 词：欠驱动机械手 包络抓取 平行抓取 接触力 

分 类 号：TD94[矿业工程—选矿]