工业技术与职业教育2026，Vol.24Issue(1)：18-22,5.
基于双滚筒式六爪机械手的结构设计与优化分析
Structural Design and Optimization Analysis of a Double Drum-Type Six-Jaw Manipulator
摘要
Abstract
Aiming at the common engineering problems of existing mechanical grippers in grasping cylindrical,easy-rolling and special-shaped workpieces,such as clamping instability,poor adaptive capacity and high workpiece damage rate,a six-jaw mechanical gripper based on double roller lead screw drive is proposed.In terms of structural design,coaxial symmetric drive of double lead screws is adopted,and a compact linear execution chain is composed of"roller-bearing-belt transmission".Two servo motors are symmetrically arranged and directly connected to the lead screws through rigid couplings to reduce intermediate transmission links.The transmission module realizes a low-friction and high-rigidity support and transmission path through the cooperative matching of lead screws,rollers and angular contact ball bearings.The working end adopts a"3+3"symmetric six-jaw annular layout,and the end is designed with composite curved surfaces and flat surfaces to adapt to circular,square and special-shaped workpieces;the jaws are connected to the main body through spherical plain bearings,and flexible gaskets are embedded at the jaw tips to achieve passive compliance and multi-point fitting.With force-closed envelope grasping and automatic centering as the core features,the mechanical gripper balances stable clamping and workpiece surface protection,and is suitable for multi-scenario applications such as precision assembly,logistics sorting and flexible manufacturing.关键词
六爪机械手/双丝杠/同步传动/滚筒轴承/自适应抓取Key words
six-jaw manipulator/double lead screw/synchronous transmission/roller bearing/adaptive grasping分类
信息技术与安全科学引用本文复制引用
张文灼,孙成安,朱晓红,胡雪花,王靖远..基于双滚筒式六爪机械手的结构设计与优化分析[J].工业技术与职业教育,2026,24(1):18-22,5.基金项目
河北省高等学校科学研究项目2022年度重点课题"绳驱动连续型柔性机器人运动规划与控制研究"(课题编号:ZD2022118),主持人张文灼. （课题编号:ZD2022118）
