多关节抓取灵巧手设计
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摘要
针对目前塑胶类组装生产线机械手存在的制造成本高、结构复杂、难以大规模推广的问题,设计了一种用于塑胶类组装生产线的抓取灵巧机械手。采用远端步进电机集中布局和空间柔索传动的方式,可以在大大降低成本的同时提高传动系统布局的灵活性,降低驱动电机的力矩及抓取物件的重量限制,增强灵巧手的柔性和控制精度与实时性。在结构设计方面,采用了4指结构,每个手指拥有2个关节,整体外形近似人手,便于操控。最后进行了仿真分析和驱动测试,系统达到了预定目标。
引文
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[2]Prensilia Srl Company.The EH1 Milano Hand[M].2014.
[3]Subramanian.T.Venkataraman.Thea Iberall.Dextrous Robot Hands[M].Springer Science&Business Media press.2012.
[4]骆敏舟,杨秀清,梅涛.机器人手爪的研究现状与进展[J].机器人技术与应用:2008,15(02):24-35.
[5]张鸿刚,梁小刚,李春丽.中型汽车变速软轴操纵系统设计[J].汽车实用技术:2015,22(03):61-63.
[6]何广平,刘菲,陆文斌.欠驱动四指灵巧手的设计与研究[J].机器人:2013,25(02):36-43.
[7]樊绍威,刘伊威,金明河等.HIT/DLR类人形五指灵巧手机构的研究[J].哈尔滨工程大学学报:2009,30(02):171-177.
[8]Mylon Peter,Lewis Roger,Carre Matt J.et.al.An evaluation of dexterity and cutaneous sensibility tests for use with medical gloves.SAGE PUBLICATIONS LTD,1 OLIVERS YARD,55 CITY ROAD,LONDON EC1Y 1SP,ENGLAND:2016,230(16):2896-2912.
[9]Laguna Laura,Hetherington Marion M,Chen Jianshe.et.al.Measuring eating capability,liking and difficulty perception of older adults:A textural consideration[J].FOOD QUALITY AND PREFERENCE:2016,53(05):47-56.
[10]Verrelli DI,Qian Y,Wilson MK..et.al.Intraoperative tremor in surgeons and trainees[J].INTERACTIVE C A R D I O V A S C U L A R A N D T H O R A C I C SURGERY:2016,23(03):410-415.