In order to meet the need of mechanization in the installation process of highway guardrail plate,a kind of dexterous manipulator with combined pneumatic and magnetic adsorption is designed.The device is composed of two parts:a finger-type clamping mechanism and a lifting and turning wrist.By optimizing the configuration of magnetic adsorption module and pneu-matic actuator,the tolerance adaptation to the guardrail plate is realized.When the guardrail plate is lifted by the electromag-net,the mechanical clamping claw also grabs the guardrail plate to achieve double protection.It is proved that the gripper can guarantee the safety of grasping and the flexibility of movement during the operation of the guardrail plate.
维普
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