基于刚性折纸的机械手设计及尺寸优化  

Designand size optimization of manipulator based on rigid origami

作　　者：王艳 WANG Yan(Shanghai Technical and Innovation Vocational College,Shanghai 201620,China)

机构地区：[1]上海科创职业技术学院,上海201620

出　　处：《农业装备与车辆工程》2025年第2期113-118,共6页Agricultural Equipment & Vehicle Engineering

基　　金：上海市松江区科普项目“基于人工智能技术的视觉检测装置”(2024SJKPW003)。

摘　　要：针对折纸机器人、多自由度机械手等末端执行器驱动困难的问题,基于刚性折纸提出一种新型机械手,设计了机械手的驱动机构,该驱动机构可实现单自由度驱动多个自由度机械手的运动。对机械手手指关节进行运动学分析,得到驱动关节和折叠关节的关系,证明了机械手设计的可行性。权衡运动学和机械学优点,对机械手的结构尺寸进行优化。该机械手的设计为折纸机构领域驱动设计提供了一定参考。Aiming at the difficulty of driving end effectors such as origami robots and multi-degree-of-freedom manipulators,a new kind of manipulator based on rigid origami was proposed,and the driving mechanism of the manipulator was effectively designed,which could realize the movement of the manipulator with single degree-of-freedom.The kinematic analysis of the finger joint of the manipulator was carried out,and the relationship between the driving joint and the folding joint was obtained,which proves the feasibility of the design of the manipulator.Finally,the advantages of kinematics and mechanics are weighed to optimize the structure size of the manipulator.The design of the manipulator provides a reference for the driving design of origami mechanism.

关 键 词：刚性折纸 末端执行器 机械手 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]