| 并行连杆传动的机械手指结构设计及运动学分析 |
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| 引用本文： | 罗萍,张晓晓,龚晓光,杨波,常峥. 并行连杆传动的机械手指结构设计及运动学分析[J]. 机床与液压, 2021, 49(15): 29-32 |
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| 作者姓名： | 罗萍 张晓晓 龚晓光 杨波 常峥 |
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| 作者单位： | 重庆邮电大学自动化学院,重庆400065 |
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| 基金项目： | 河南省教育厅教育教学项目(ZJC17104) |
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| 摘 要： | 针对现有汽摩装配工艺中所用机械手存在抓取方式单一及手指结构复杂的问题,设计一种两组连杆并行传动的三自由度机械手指,运动学分析结果证明该手指具有平滑的运动轨迹.搭建由3个该机械手指构成的机械手并进行目标抓取实验.实验结果表明:由该机械手指构成的机械手能够对多种形状目标实现稳定抓取,且具有较好的柔顺性与灵巧性,为汽摩装配工...
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| 关 键 词： | 机械手指 并行连杆传动 结构设计 运动学分析 |
Structural Design and Kinematics Analysis of Mechanical Fingers Driven by Parallel Links |
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| Abstract: | Aiming at the problems of single grasping method and complex finger structure of the manipulator used in existing automobile and motorcycle assembly process, a three DOF mechanical finger with two sets of connecting rods was designed. A manipulator composed of three fingers was set up to carry out target grasping experiment. The experimental results show that the manipulator composed of the fingers can grasp various shape rules stably, and has good flexibility and dexterity. It provides reference for automobile and motorcycle assembly process. |
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| Keywords: | Mechanical finger Parallel link drive Structure design Kinematics analysis |
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