一种蜂窝板装配机械手用新型柔性夹具研制

针对尺寸多样、低刚度和易损性等特性导致蜂窝板自动搬运较为困难的问题，设计一种基于可调环的装配机械手用新型柔性夹具。分析蜂窝板夹具性能的特殊要求，并在此基础上提出一种基于线绳环的柔性夹具概念。在静态几何形状环的基础上，进一步设计一种具有可调环的柔性夹具。为了进一步提高灵活性，还设计了相匹配的组合模式环控制方法，以有效改变环的几何形状。最后，制备了由6个环构成的原型并进行了测试，以确定不同蜂窝板的最佳夹持参数以及量化夹持力。研究结果表明：对于0.7 mm绳和1 mm绳，夹持力都先增加到最大，然后又减小，证实了环尺寸与行程相关的假设。其中，0.7 mm绳不会损坏任何材料，具备了更大的灵活性。在不造成损坏的条件下，该柔性夹具可有效适用于各种类型蜂窝板的自动化夹持，具有较高的灵活性和灵敏度。

Development of a New Flexible Fixture for Honeycomb Panel Assembly Manipulators

Aiming at the difficulty of automatic handling of honeycomb panels due to the characteristics of various sizes,low stiffness and fragility,a new flexible fixture for assembly manipulator based on adjustable ring was designed.The special requirements of honeycomb panel fixture performance were studied,and on this basis,a concept of flexible fixture based on wire rope loop was proposed.Based on the static geometric ring,a flexible fixture with adjustable ring was further designed.In order to further improve the flexibility,a matching combined mode loop control method was designed to effectively change the geometry of the loop.Finally,a prototype composed of six rings was prepared and tested to determine the best clamping parameters of different honeycomb plates and quantify the clamping force.The results show that the clamping force first increases to the maximum and then decreases for both 0.7 mm rope and 1 mm rope,which confirms the hypothesis that the ring size is related to the stroke.Among them,the 0.7 mm rope does not damage any material,which has greater flexibility.Under the condition of no damage,the flexible fixture can be effectively applied to automatic clamping of various types of honeycomb panels with high flexibility and sensitivity.