机电工程技术2025，Vol.54Issue(11)：125-129,196,6.DOI:10.3969/j.issn.1009-9492.2025.11.023
可变掌机械手结构设计与运动仿真
Structure Design and Kinematic Simulation of Variable Palm Manipulator
摘要
Abstract
The traditional manipulator has a complex structure and single function,which cannot meet the gripping needs under different conditions.By studying the structure and function of the traditional manipulator,a new type of variable palm manipulator structure is proposed.The structural composition and working principle of the variable palm manipulator are introduced,the kinematic model of the variable palm manipulator is established by using the vector method,and the kinematic analysis and adaptability analysis of the manipulator are carried out according to the geometrical relationship and the cosine theorem,the driving force of the manipulator is analyzed by means of the principle of virtual work,and the relationship between the finger grasping force and the driving moment of the joints is established,and the 3D model of the manipulator is imported into Adams software to establish a virtual prototype for simulation experiments,and the kinematic simulation data curves of variable palm manipulator are acquired.The research results show that there is no interference between the various components of the manipulator,the manipulator can achieve stable grasping and releasing of a variety of shapes of objects,and has a decent adaptability,which provides a wide range of prospects for application in industrial production and daily life.关键词
变掌机械手/仿真/运动分析Key words
variable palm manipulator/simulation/kinematic analysis分类
信息技术与安全科学引用本文复制引用
周燕飞..可变掌机械手结构设计与运动仿真[J].机电工程技术,2025,54(11):125-129,196,6.基金项目
河南省高等学校重点科研项目(23B630024) （23B630024）
