单自由度转动式对心机械夹持器

A CONCENTRIC ROBOT GRIPPER WITH ONE DEGREE-OF-FREEDOM FOR CYLINDRICAL WORKPIECES

  • 摘要: 近年来许多学者提出了各种新型的机械夹持器,对心夹持器就是其中的一种.现有的对心机械夹持器的主要缺点是结构复杂,设计麻烦,加工困难,夹持范围小.本文提出一种新的结构简单,制造容易,使用方便,夹持范围大,对心夹持精度高,能对心夹持各种圆柱体的转动式机械夹持器.这种夹持器是根据同心圆在同一圆心角下的不同圆上的弦相互平行的几何关系和平行四杆机械的运动特点设计的.夹持器的每侧是由摇杆滑块机构外接平行四杆机构组成的.

     

    Abstract: We propose a new,one-degree-of-freedom,mechanical,rotational,robot end-effector for grippingcylindrical workpieces.The end-effector is simple in structure,easy to manufacture,and convenient to use.It has the capability to grip a wide range of part sizes and has high accuracy.Each side of the gripper includesa rocker-slide mechanism and a parallelogram four-bar linkage.This concentric robot gripper is based on thegeometric relationship that chords of concentric circles at a central angle are parallel and the motion charac-teristic of a parallelogram four-bar linkage.

     

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