电-气复合驱动柔性机械手的设计与研究
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摘要
目的针对轻工业、食品行业中被抓取对象物性多样、尺寸范围较大等问题,设计一种通用的欠驱动柔性机械手。方法根据机械手需要满足的功能设计机械手结构,运用Matlab软件中的Fsolve函数求解机械手中指节、指尖节相对转角与笔形气缸压力的关系,并以此绘制机械手的工作空间图,建立机械手的简化抓取模型,并以500 mL的啤酒、160 mL的可乐为抓取目标进行机械手抓取计算。结果机械手的尺寸自适应连续宽度范围为0～200 mm,在适应被抓物体尺寸大小的同时可以对机械手与物体间的接触力进行精确控制。结论设计的机械手抓取范围较大,装有扭弹簧的串联双铰链结构使机械手无需传感器就可以实现对目标的可靠抓取。
The work aims to design a general underactuated flexible manipulator, with respect to the problem that the object to be grasped in the light industry and food industry has various physical properties and a large size range. The manipulator structure was designed according to the function that the manipulator needed to meet. The Fsolve function in Matlab software was used to solve the relationship between the relative rotation angle of the middle finger and fingertip of the manipulator and the pressure of the pen-shaped cylinder, based on which the workspace drawing of the manipulator was drawn. The simplified grab model of the manipulator was established, and the grab calculation of the manipulator was carried out with 500 mL beer and 160 mL cola as the grab targets. The size adaptive continuous width range of the manipulator was 0-200 mm, which could accurately control the contact force between the manipulator and the object while adapting to the size of the object to be grasped. The designed manipulator has a large grab range, and the series double hinge structure installed with torsion spring enables the manipulator to achieve reliable grabbing of the target without sensors.
The work aims to design a general underactuated flexible manipulator, with respect to the problem that the object to be grasped in the light industry and food industry has various physical properties and a large size range. The manipulator structure was designed according to the function that the manipulator needed to meet. The Fsolve function in Matlab software was used to solve the relationship between the relative rotation angle of the middle finger and fingertip of the manipulator and the pressure of the pen-shaped cylinder, based on which the workspace drawing of the manipulator was drawn. The simplified grab model of the manipulator was established, and the grab calculation of the manipulator was carried out with 500 mL beer and 160 mL cola as the grab targets. The size adaptive continuous width range of the manipulator was 0-200 mm, which could accurately control the contact force between the manipulator and the object while adapting to the size of the object to be grasped. The designed manipulator has a large grab range, and the series double hinge structure installed with torsion spring enables the manipulator to achieve reliable grabbing of the target without sensors.
引文
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[2]李国昌,赵成,李蕊,等.某自动化流水线搬运机械手的仿真与试验分析[J].包装工程,2018,39(15):166-172.LI Guo-chang,ZHAO Cheng,LI Rui,et al.Simulation and Experimental Analysis of a Auto Production Line Handling Manipulator[J].Packaging Engineering,2018,39(15):166-172.
[3]童俊华,程培林,武传宇,等.堆聚态采血针管自动分料拾取机械手研究[J].包装工程,2018,39(3):124-129.TONG Jun-hua,CHENG Pei-lin,WU Chuan-yu,et al.Research on Automatic Sorting and Picking Manipulatorfor Stacked Polymeric Lancet Tubes[J].Packaging Engineering,2018,39(3):124-129.
[4]张碧涛,何卫锋.一种包装堆垛机械手的结构优化[J].包装工程,2017,38(7):142-145.ZHANG Bi-tao,HE Wei-feng.Structural Optimization of a Packaging and Stacking Manipulator[J].Packaging Engineering,2017,38(7):142-145.
[5]张聪.罐头装箱组合式机械手设计[J].包装工程,2016,37(19):163-167.ZHANG Cong.Design of Canned Packing Combined Manipulator[J].Packaging Engineering,2016,37(19):163-167.
[6]田志伟.一种可变约束欠驱动机械手的设计研究[D].无锡:江南大学,2016.TIAN Zhi-wei.Design and Research of a Variable Constrained Underactuated Manipulator[D].Wuxi:Jiangnan University,2016.
[7]新浪科技.机械手臂让残障人士意念取物:26个关节可举重物[DB/OL].(2015-5-27)[2018-07-21].http://tech.huanqiu.com/photo/2015-05/2778692.html.Sina Technology.Robotic Arm Allows People with Disabilities to Take Objects:26 Joints Can Lift Weights[DB/OL].(2015-5-27)[2018-7-21].http://tech.huanqiu.com/photo/2015-05/2778692.html.
[8]LALIBERTE T G,CLEMENT M,GOSSELIN C M,et al.Underactuated Mechanical Finger with Return Actuation:CA 2209863[P].2006-10-03.
[9]熊强,章军,陈春华,等.柔性快递包装盒的分拣机械手结构设计[J].机械设计与制造,2014(10):69-72.XIONG Qiang,ZHANG Jun,CHEN Chun-hua,et al.Structural Design of Sorting Manipulator for Flexible Express Box[J].Machinery Design&Manufacture,2014(10):69-72.
[10]章军.六关节三指苹果抓持机械手的自适应柔性分析[J].农业工程学报,2010,26(1):140-144.ZHANG Jun.Six Joint Tridactylism Apple Grasping Manipulator a Daptive Flexibility Analysis[J].Journal of Agricultural Engineering,2010,26(1):140-144.
[11]LI Y,XU Q.Development and Assessment of a Novel Decoupled XY Parallel Micro-positioning Platform[J].IEEE Trans Mecha,2010,15(1):125-135.
[12]YONG Y K,LU T F.Kinetostatic Modeling of 3-RRRCompliant Micro-motion Stages with Flexure Hinges,Mach[J].Theory,2009,44(6):1156-1175.
[13]崔国华,袁会长,颜亮,等.串联机械手工作空间的求解[J].机械设计与制造,2013(10):182-183.CUI Guo-hua,YUAN Hui-chang,YAN Liang,et al.Solution of Working Space of Tandem Manipulator[J].Machinery Design&Manufacture,2013(10):182-183.
[14]王守城,王熙,段俊勇,等.基于MATLAB的冲床上下料机械手运动学分析[J].机械设计与制造工程,2018,47(6):9-13.WANG Shou-cheng,WANG Xi,DUAN Jun-yong,et al.Kinematics Analysis of Punching Robot Based on MATLAB[J].Machinery Design and Manufacturing Engineering,2018,47(6):9-13.
[15]百度文库.摩擦系数表[DB/OL].(2018-06-30)[2018-07-21].https://wenku.baidu.com/view/539b448fbceb19e8b8f6ba52.html.Baidu Library.Friction Coefficient Table[DB/OL].(2018-06-30)[2018-07-21].Https://wenku.baidu.com/view/539b448fbceb19e8b8f6ba52.html.