带有并联缓冲机构的三指机器人夹持器设计OA北大核心CSTPCD

Aiming at the problem that collisions are prone to occur during the robot grasping process,causing damage to the gripper or the robot,and the gripper needs to be adaptable while using as few drives as possible,a three-finger gripper with only one drive and a 3-RRS parallel buffer mechanism was designed.Based on the spiral theory,a parallel buffer mechanism with"1T2R"degrees of freedom was designed,and its structure was further designed based on the inverse kinematic solution derived in the cylindrical coordinate system.A synchronous translational three-finger gripper was designed,whose force was analyzed based on the principle of virtual work,and the structural parameters of the gripper were calculated using a genetic algorithm.The rationality of the structural design was verified through simulation model verification and trial prototype experiments.The proposed gripper can effectively alleviate the impact of collision on the robot body during the grasping process,and has good adaptability to objects and environments with high robustness.