非规整几何图形柔软物抓取绷展机械手的设计
Design of manipulator for grabbing and stretching soft objects with irregular geometric figures
桓源 1任工昌 1刘书磊 1王乐1
作者信息
- 1. 陕西科技大学机电工程学院,陕西西安 710021
- 折叠
摘要
近年来,随着机器人技术的高速发展,各种操作机械手层出不穷.但是现有大多数机械手只能进行简单的夹取动作,对于其形状多变、平展面积大及厚度小的柔软物并不能有效抓取和绷展.文中在充分研究皮革物理特性的基础上,提出了一种非规整几何图形柔软物抓取绷展机械手的设计方案.机械手整体采用八爪鱼仿生机构配合滚轮式末端执行器的设计来实现皮革的抓取功能,通过与八边形绷板的配合实现皮革的绷展功能.该机械手为皮革搬运和绷展作业提供了有效解决方案,对推进皮革工业的自动化发展具有积极意义.
Abstract
With the rapid development of robotics technology in recent years,various manipulators have emerged one after another.However,most manipulators can merely perform simple clamping actions;they fail to effectively grasp and stretch soft objects with variable shapes,large flat areas,and small thickness.In this article,based on the analysis on the leather's physical properties,efforts are made to work out a manipulator for grabbing and stretching soft objects with irregular geometric figures.The whole manipulator with the octopus bionic mechanism and the roller-type end effector,realizes the function of leather grasping,and ensures the function of leather stretching through cooperation with the octagonal stretcher.This manipulator provides an effec-tive solution for the functions of leather handling and stretching,which has greatly promoted automation in the leather industry.
关键词
柔软物/机械手/仿生/抓取/自动化Key words
soft object/manipulator/bionics/grab/automation引用本文复制引用
基金项目
陕西省重点研发计划资助项目(2022GY-250)
西安市科技计划项目(23ZDCYJSGG0016-2022)
出版年
2024
NETL
NSTL
万方数据