罗超, 苏靖惟, 张文增. 共圆滑杆直线平夹自适应机器人手的研制[J]. 机器人, 2019, 41(4): 519-525. DOI: 10.13973/j.cnki.robot.180445
引用本文: 罗超, 苏靖惟, 张文增. 共圆滑杆直线平夹自适应机器人手的研制[J]. 机器人, 2019, 41(4): 519-525. DOI: 10.13973/j.cnki.robot.180445
LUO Chao, SU Jinwei, ZHANG Wenzeng. Development of a Co-circular Slider Linear-parallel and Self-adaptive Robot Hand[J]. ROBOT, 2019, 41(4): 519-525. DOI: 10.13973/j.cnki.robot.180445
Citation: LUO Chao, SU Jinwei, ZHANG Wenzeng. Development of a Co-circular Slider Linear-parallel and Self-adaptive Robot Hand[J]. ROBOT, 2019, 41(4): 519-525. DOI: 10.13973/j.cnki.robot.180445

共圆滑杆直线平夹自适应机器人手的研制

Development of a Co-circular Slider Linear-parallel and Self-adaptive Robot Hand

  • 摘要: 在平夹模式下,传统机器人手指末端的运动轨迹为圆弧,工作空间小,不适合抓取工作台上的薄板物体.为此,本文提出了一种共圆滑杆直线机构,分析了该机构的工作原理、运动特性和工作空间,并基于该直线机构设计了一种新型的直线平夹自适应机器人手.设计的机器人手包含2根手指,共4个自由度,仅采用2根电机驱动,结构简单.每个手指由基座、电机、簧件、L型连杆和2个指段等组成.该装置具备直线平夹和自适应包络两种抓取模式,捏持精度高,无需借助额外的传感和控制系统即可适应不同位置、姿态和形状的物体.针对设计的机器人手进行了不同抓取模式分析、运动分析和受力分析,研究了不同参数对抓取力的影响,为机器人手的设计和优化提供依据.并且研制了原理样机,开展了抓取实验,结果表明:机器人手的设计和分析合理,该装置可以实现直线平夹和自适应抓取功能,既能直线平夹物体,也能稳定包络抓取形状、大小各异的物体.

     

    Abstract: The end of traditional robot fingers moves along a circular trajectory in parallel grasping mode, and it isn't suitable for grasping thin plates on working platform due to its small workspace. For this problem, a co-circular slider straight-line mechanism is proposed, and its working principle, kinematics, and workspace are analyzed. Based on the proposed straight-line mechanism, a novel linear-parallel and self-adaptive robot hand is designed. The proposed robot hand consisting of 2 fingers with 4 degree of freedom (DOF) in total, is driven by only 2 motors, which makes the structure of the hand much simpler. Each finger includes a base, a motor, a spring, an L-shaped linkage, 2 phalanxes, and so on. The proposed device can execute linear-parallel pinching grasping mode and self-adaptive grasping mode, and it has high pinching accuracy and can deal with objects with different positions, shapes, and sizes without additional sensing and control systems. Different grasping modes, kinematics and forces of the designed robot hand are analyzed, and the influence of different parameters on grasping force is studied, which lay a basis for the design and optimization of the robot hand. Besides, a prototype of the proposed hand is developed, with which grasping experiments are conducted. The experimental results indicate that the design and analysis of the robot hand are reasonable, the device can achieve linear-parallel and self-adaptive grasping function, and it can not only perform linear-parallel pinching but also can grasp objects with different shapes, sizes in a stable way.

     

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