摘要
目的 提出一种新型柔性抓取机械手,解决当前抓取机械手结构复杂、驱动单元多、抓取目标物形状和材料受限的问题,确定末端执行元件——柔性片的最佳结构形状。方法 根据输入输出运动特征和实际工作条件完成抓取机械手的原理方案和结构设计,采用悬臂梁的大挠度变形来等效机械手末端执行元件的力学模型,用MATLAB软件中的ode45函数对其进行力学性能求解,并用ANSYS有限元分析软件对倒梯形柔性片进行强度验算。结果 完成了柔性抓取机械手的原理方案设计和结构设计,静力学分析得到末端最大变形量的数值结果满足精度要求,确定了机械手末端执行元件的最佳结构形状为倒梯形。结论 在同等条件下,倒梯形柔性片具有更好的弯曲性能,为机械手的抓取提供了更好的柔顺自适应能力;以该结构充当末端执行元件不仅能实现机械手更大的抓持范围,还能更大限度地节省材料。
A new type of flexible grasping manipulator is proposed to solve the current grasping manipulator′s complex structure, multiple drive units, grasping target shape and material limitations, and determine the best structural shape of the end effector-flexible sheet.According to the input and output motion characteristics and actual working conditions, the principle scheme and structure design of the grasping manipulator are completed.The large deflection deformation of the cantilever beam is used to equivalent the mechanical model of the end effector of the manipulator.The ode45 function in MATLAB software is used to solve the mechanical properties, and the ANSYS finite element analysis software is used to check the strength of the inverted trapezoidal flexible sheet.The principle scheme design and structural design of the flexible gripping manipulator have been completed, and the optimal structural shape of the end effector of the manipulator has been determined to be an inverted trapezoid.Under the same conditions, the inverted trapezoidal flexible sheet has better bending performance, which provides better flexibility for the gripping of the manipulator.Using this structure as an end-effector can not only achieve a larger gripping range of the manipulator, but also save material to a greater extent, which provides a reliable basis for the design of the manipulator.
作者
韩泽光
徐向鑫
郝瑞琴
白晓天
HAN Zeguang;XU Xiangxin;HAO Ruiqin;BAI Xiaotian(Shenyang Jianzhu University,School of Mechanical Engineering,Shenyang,China,110168)
出处
《沈阳建筑大学学报（自然科学版）》
CAS
CSCD
北大核心
2022年第6期1121-1128,共8页
Journal of Shenyang Jianzhu University：Natural Science
基金
国家自然科学基金项目(51909357)。
关键词
抓取机械手
倒梯形
柔性片
结构设计
grasping manipulator
inverted trapezoidal
flexible sheet
structural design
