罗志增, 顾培民. 一种单电机驱动多指多关节机械手的设计[J]. 机器人, 2009, 31(6): 620-624.
引用本文: 罗志增, 顾培民. 一种单电机驱动多指多关节机械手的设计[J]. 机器人, 2009, 31(6): 620-624.
LUO Zhizeng, GU Peimin. Design of a Multi-Fingered and Multi-Joint Gripper Based on Single Motor Driving[J]. ROBOT, 2009, 31(6): 620-624.
Citation: LUO Zhizeng, GU Peimin. Design of a Multi-Fingered and Multi-Joint Gripper Based on Single Motor Driving[J]. ROBOT, 2009, 31(6): 620-624.

一种单电机驱动多指多关节机械手的设计

Design of a Multi-Fingered and Multi-Joint Gripper Based on Single Motor Driving

  • 摘要: 为了使机械手灵巧、稳妥地抓取物体,设计了一种新型结构的单电机驱动4指12关节机械手爪.该手爪由电机驱动一根十字连杆,其端部分别连接4个手指的第1动力连杆;每个手指有3个指节,由2个平行四边形的指节结构确保手指末端做平移运动;每个手指的第2动力连杆具有延伸滑槽,当第2动力连杆运动时,经过特别设计的滑槽在固定支点滑动,可使手指末端匀速运动.该新型的单电机驱动手爪设计方案实现了机械手控制简单、抓握可靠的目的.

     

    Abstract: In order to grasp objects dexterously and stably by robot,this paper proposes a new structure for four-fingered and twelve-joint gripper based on single motor driving.The motor drives a cross-linkage,whose terminal connects the first power rod of each finger.Every finger has three joints,and two knuckles each with a parallelogram structure ensure the translational motion of fingertip.The second power rod of each finger has a prolonged chute,and the specially designed chute shifts around a fixed fulcrum to realize the fingertip uniform motion while the second power rod moves.The new design scheme of the single motor driven gripper is of simple control and solid grasp.

     

/

返回文章
返回