轻工机械2018，Vol.36Issue(3)：14-17,23,5.DOI:10.3969/j.issn.1005-2895.2018.03.003
一种欠驱动柔性机械手的抓取力研究
Grasping Force Study of Underactuated and Flexible Manipulator
摘要
Abstract
In order to meet the demands of complex objects with large scale, complex shapes and complex physical properties in the agricultural products industry, this paper proposed a kind of underactuated and flexible manipulator. This paper introduced the structure and working principle of this manipulator, the manipulator used two motors to drive the tandem two hinges joints.The static mechanical equation and the geometric equilibrium equation were established by grasping the cylindrical aluminum block with diameters of 20, 40 and 60 mm.The relationship between the driver stroke and grasping force was found out by the fsolve function of MATLAB software under the load state.The calculations results indicate that grasping force is adjusted by the stroke of drive rod.The manipulator can effectively grasp complex objects without damaging the surface of the object.关键词
柔性机械手/串联双铰链/双电机驱动/MATLAB软件Key words
compliant manipulator/tandem two hinges/twin motor drive/MATLAB software分类
信息技术与安全科学引用本文复制引用
李秋苹,章军,崔军..一种欠驱动柔性机械手的抓取力研究[J].轻工机械,2018,36(3):14-17,23,5.基金项目
江苏省数控一代机械产品创新区域应用示范工程(2015BAF25B00). （2015BAF25B00）
