绳驱动纱筒抓取仿生机械手设计

针对纱筒上下料对人力过度依赖的问题,在研究仿生学手指基础上,构建面向智能制造的纱筒抓取仿生机械手。首先,采取模块化设计思想,设计适合纱筒抓取的仿生机械手结构模型,并选择绳索传动作为驱动方式;其次,详细分析仿生机械手的组成及其抓取原理,运用D-H坐标法,实现机械手指坐标系和手指基座坐标系之间变换,推导机械手末端位置方程,得到最优抓取姿态;最后,利用有限元软件,建立三维欠驱动仿生机械手模型并对其进行虚拟装配与运动仿真分析,以验证机械手抓取纱筒的可行性和稳定性,形成机器人智能抓取仿生机械手的关键技术。

Design of Bionic Manipulator for Rope-Driven Yarn Drum Grasping

In order to solve the problem that the feeding and discharging of yarn bobbin depends excessively on manpower,a bionic manipulator for grasping yarn bobbin oriented to intelligent manufacturing is constructed on the basis of studying bionic fingers.Firstly,the modular design idea is adopted to design a bionic manipulator structure model suitable for yarn barrel grabbing,and rope transmission is selected as the driving mode.Secondly,the composition and grasping principle of the bionic manipulator are analyzed in detail.The D-H coordinate method is used to realize the transformation between the coordinate system of the mechanical finger and the coordinate system of the finger base,and the position equation of the manipulator end is deduced to obtain the optimal grasping posture.Finally,the finite element software is used to establish a three-dimensional underactuated bionic manipulator model,and the virtual assembly and motion simulation analysis are carried out to verify the feasibility and stability of the manipulator grasping the yarn bobbin,thus forming the key technology for the robot to intelligently grasp the bionic manipulator.