轻工机械2025，Vol.43Issue(5)：11-17,7.DOI:10.3969/j.issn.1005-2895.2025.05.002
多用途搬运机器人末端执行器设计
Design of End-Effector for Multi-Purpose Handling Robot
摘要
Abstract
In response to the diverse demands for material boxes handling and spools and sock products grasping in sock factory,a multi-functional end-effector driven by a linkage based on a dual-arm handling robot was designed.Based on modular design,the pallet and mechanical hand have respectively achieved handling of material boxes and precisely grasping of spools and socks.And through systematic structural design,the size and shape of the end-effector could be flexibly adapted to the diverse handling needs of the factory.The forward and inverse kinematics analysis of the end-effector was conducted using the D-H parameter method,the precise position and posture information of the finger end in three-dimensional space were obtained.Simulation verification and grasping experiments were conducted using MATLAB and ADAMS.The results show that the end-effector is capable of handling large material boxes and accurately grasping spools and socks.The design of the end-effector is reasonable,multifunctional,and practical,demonstrating high practical value.关键词
机器人/末端执行器/机械手/D-H参数法/MATLAB软件/ADAMS软件Key words
robot/end-effector/mechanical hand/D-H parameter method/MATLAB/ADAMS分类
信息技术与安全科学引用本文复制引用
程晶晶,莫培煜,张守京..多用途搬运机器人末端执行器设计[J].轻工机械,2025,43(5):11-17,7.基金项目
陕西省"秦创原科学家+工程师"队伍建设项目(2024QCY-KXJ-030). （2024QCY-KXJ-030）
