森林工程2025，Vol.41Issue(5)：1025-1033,9.DOI:10.7525/j.issn.1006-8023.2025.05.015
抓取木叉捆Jansen连杆的直线平夹机器人手设计
Design of a Linear Pinch Robot Hand for Grasping Wooden Fork Bundles Using Jansen Linkage
摘要
Abstract
There are various types of robot grasping methods.In the wood fork production process,the length of the wood fork bundle is relatively long,with a flat side and small height,making traditional robot hands less effective for grasping.Based on the characteristics of the wood fork bundles,a linear parallel clamping method at the end is more suitable for grasping.To address this issue,this paper proposes a Jansen linkage-based linear parallel clamping robot hand(Jansen fingers),which aims to achieve linear motion of the end effector along a straight trajectory during clamp-ing.The Jansen fingers utilize the Jansen linkage mechanism to achieve linear motion at the end,while a four-bar link-age mechanism ensures the stability and reliability of the finger's end during the clamping process.Theoretical analysis and simulation results show that the Jansen fingers can achieve stable linear clamping,meeting the requirements of the wood fork production process.关键词
木叉捆/机器人手/直线平夹/Jansen连杆/动力学Key words
Wooden fork bundle/robot hand/linear parallel clamping/Jansen linkage/dynamics分类
信息技术与安全科学引用本文复制引用
张森,张加成,黄辉,刘玉童,赵辉..抓取木叉捆Jansen连杆的直线平夹机器人手设计[J].森林工程,2025,41(5):1025-1033,9.基金项目
黑龙江省应用技术研究与开发计划项目(GA21A403-5) （GA21A403-5）
木勺生产线上下料机械手技术开发(HKF220400021). （HKF220400021）
