西安工程大学学报2026，Vol.40Issue(2)：37-44,8.DOI:10.13338/j.issn.1674-649x.2026.02.005
基于变胞原理的纱管抓取刚柔结合机械手结构设计
Structural design of a yarn tube grasping rigid-flexible combination robotic arm based on the principle of metamorphic mechanisms
摘要
Abstract
To address the issues of poor adaptability of rigid manipulators in grasping yarn tubes and the instability of flexible manipulators,a hybrid rigid-flexible manipulator was designed based on the variable-cell principle.First,the overall structure of the manipulator was designed based on the variable-cell principle,achieving configuration changes through the separation and merging of finger joints.Second,the kinematic analysis of the manipulator's variable-cell mechanism was con-ducted,and the forward and inverse kinematic models of the manipulator were established using the D-H parameter method.Finally,a prototype was fabricated and experimentally validated.The results show that the hybrid rigid-flexible manipulator designed in this study maintains finger contact with the grasped object during the grasping process,achieving success rates of 90.00%,93.33%,and 86.67%for step-shaped yarn tubes,cylindrical yarn tubes,and pagoda tubes,respec-tively.The high success rate in grasping yarn tubes sheds new insights into yarn tube grasping.关键词
纱管抓取/变胞机构/刚柔结合/机械手Key words
yarn tube grabbing/metamorphic mechanism/rigid-flexible coupling/robotic arm分类
机械制造引用本文复制引用
管声启,刘明昇,王士博,沈佳宇..基于变胞原理的纱管抓取刚柔结合机械手结构设计[J].西安工程大学学报,2026,40(2):37-44,8.基金项目
陕西省重点研发计划项目(2022GY-058) （2022GY-058）
高校院所科技人员服务企业项目(25GXKJRC00036) （25GXKJRC00036）
