欠驱动机械手爪设计及抓取接触力分析  

Design of underactuated manipulator claw and grasp contact force analysis

作　　者：文陈杨 邹光明[1,2] 顾浩文 王众玄 许艳涛 WEN Chenyang;ZOU Guangming;GU Haowen;WANG Zhongxuan;XU Yantao(Key Laboratory of Metallurgical Equipment and Control Technology,Wuhan University of Science and Technology,Wuhan 430081,China;Key Laboratory of Mechanical Transmission and Manufacturing Engineering of Hubei province,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081 [2]武汉科技大学机械传动与制造工程湖北省重点实验室,湖北武汉430081

出　　处：《传感器与微系统》2025年第4期156-160,164,共6页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(51875418);湖北省科技厅青年基金资助项目(2021CFB135)。

摘　　要：传统的机器人末端夹持装置满足不了自动化生产中类型多样并具有不规则外形物资抓取和拣选要求,为了实现对该类特征物资的抓取,基于欠驱动原理设计了一种新型的七杆2自由度(2-DoF)欠驱动机械手爪。根据需求分析,通过变胞机构型综合得到欠驱动机械手爪的手指机构,建立了手爪的运动学模型和接触力模型,并对手爪进行接触力封闭性分析,分析手爪能够抵抗的最大外力,进行欠驱动机械手爪抓取试验,使用Adams分析机械手爪的抓取运动过程和抓取接触力,结果表明:该手爪结构合理满足预期设计要求。The traditional robot end clamping device can’t meet the requirements of grasping and picking materials with various types and irregular shapes in automatic production.In order to realize the grasping of such characteristic materials,a new type of seven-bar and two-degree-of-freedom(2-DoF)underactuated manipulator claw is designed based on the underactuated principle.According to the demand analysis,the finger mechanism of the underactuated manipulator claw is obtained through the synthesis of the cellular mechanism type,the kinematic model and contact force model of the claw are established,and the contact force sealing of the claw is analyzed to analyze the maximum external force that the claw can resist,and the grasp test of the underactuated manipulator claw is carried out.Adams is used to analyze the grasp motion process and grasp contact force of the claw.The results show that the structure of the claw reasonably meets the expected design requirements.

关 键 词：欠驱动机械手爪 结构设计 变胞机构型综合 接触力分析 力封闭性 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]