摘要
针对机械手工作范围有限的问题,提出一种基于对称双五杆滑块并联机构的变掌机械手,安装有一个固定手指、两个动手指,可实现两个动手指相同的变位及转位运动,并起到夹持作用。根据实际应用中对工作空间和均布抓取性能的要求提出性能指标,通过性能指标及约束条件建立多目标优化模型,利用多目标遗传算法优化目标尺寸。结果表明曲柄的长度对机械手抓取范围影响最大,并确认了机构死点位置。
Since the manipulator’s working range is limited,a variable palm manipulator is worked out based on the symmetrical double five-bar slider parallel mechanism. It has a fixed finger and two moving fingers,which ensure the same displacement and rotation of these two moving fingers. The bit moves and acts as a grip. According to the workspace requirements and the performance of uniform gripping,the performance indicators are identified. Then,the multi-objective optimization model is set up by means of both the performance indicators and the constraints;the multi-objective genetic algorithm is adopted to optimize the target size. The results show that the length of the crank has the greatest influence on the manipulator’s gripping range,and the position of its dead point is confirmed.
作者
徐丁峰
章军
王强
XU Ding-feng;ZHANG Jun;WANG Qiang(School of Mechanical Engineering,Jiangnan University,Wuxi 214122;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment,Wuxi 214122)
出处
《机械设计》
CSCD
北大核心
2020年第7期14-18,共5页
Journal of Machine Design
关键词
变掌机械手
工作空间
均布抓取
多目标优化
variable palm manipulator
workspace
uniform gripping
multi-objective optimization
