操作机器人机械手爪的设计研究及应用-张楠

30320133JOURNALOFMACHINEDESIGNVol．30No．3Mar．2013*122311．0560382．5180553．介绍了一种用于机器人的机械手爪，它采用以丝杠和电机带动的二指平动设计方案，用于实现手爪两个夹钳的开合。该机械手爪具有结构合理小巧，抓取可靠，便于控制的特点，能顺利完成所属机器人的工作任务。机器人;机械手爪;二指爪;自动对心TH122A1001－2354201303－0017－04、、、、、、1。。。。SimonFraster19971。。1AJGNuttall21。232。。2334。。。4*2012－07－032012－10－16“”201001D0104648280612100131987—。、。1。5。512345。46。67。。72。10～35mm70mm2．225kg。。120°8。ab83。39581303125。11223456910。1044．1、、。。、、。、、、。5HF－KP131。1/W/r/min/N·mJ/kg·m210030000．320．088×10－43、、。。。6TCT1=K1·V1T1———K1———V—TC。T2=T1·z2z1η12T2———z1z2———、η1———。7Fa=2πη2·T2/R3Fa———η2———R———。1～3FaVFa=2πz2η1η2K1z1RV49120133。4．2、。、EE/ρ8。。4．339。2。2/mm/mmP/mmd/mmd2/mmd1/mm156902．51412．75114．4SIAT。HF－KP13MR－J310A/ADT8960。、。4.85V11。1112344。11512V34510。。1．J．2008324－35．2．ADAMSJ．2010375－78．3．D．20061－60．4．J．2008580－84．5GiorgioFigliolini．Experimentalanalysisofthestaticanddynamicperformancesofatwo-fingergripperC//Pro-ceedingsofthe11thWorldCongressinMechanismMachineScienceTianjinChina2004762－767．6102303119.33MPa105．96MPa13．37MPa0．163mm0．14mm0．023mm。14Von-Mises1541CVT8。2、Ⅱ－BⅢ－M。。1．M．1999．2．J．200718182191－2194．3．J．200143343－47．4．ADAMSCVTD．200723－24．5．M．2004．6．Patran/NastranJ．201027887－90．7．APDLJ．20119119－124．8．J．2006231146－48．Stiffnessandstrengthanalysisforhousingofmetalbelttypecontinuous-variabletransmissionTANJian-qian1ZHOUYun-shan1GAOShuai21．TheStateKeyLaboratoryofAdvancedDesignandManu-factureforVehicleBodyHunanUniversityChangsha410082China2．CollegeofAutomotiveEngineeringJilinUniversityChangchun130025ChinaAbstractStartingfromthetransmissionmechanismofthedo-mesticRDC15－FAmetalbelttypecontinuouslyvariabletransmis-siontheeightbearingloaddistributionsaremoreaccuratelyob-tainedinthemostsevereconditions．ThestiffnessandstrengthofhousingofCVTareanalyzedandtheweaklocationsofhousingareimproved．KeywordsmetalbelttypeCVTCVThousingFEMFig15Tab3Ref8“JixieSheji”欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍欍2030206．MELSERVOJ3＆S．2011．7THK．THKOL．http//．thkchina．com/images/zlm/sc18．pdf．8．D．2009．9．D．2008．10．J．2003551－52．Designstudyandapplicationofmanipulatingrobotgrip-perZHANGNan12HEYu-cheng23WANGNan11MechanicalandElectricalCollegeHebeiUniversityofEn-gineeringHandan056038China2ShenzhenInstituteofAd-vancedTechnologyChineseAcademyofSciencesShenzhen518055China3ChineseUniversityofHongKongChinaAbstractAmechanicalgripperforrobotbasedontwo-fingertranslationprogramwhichisdrivenbymotorandleadscrewusedtoimplementtheopeningandclosingoftwogripsisintroducedinthispaper．Itisfeaturedwithsmallinsizereliabletograbeasytocon-trolwithreasonablestructure．Itcancompletethetasksoftherobot．Keywordsrobotmechanicalgrippertwo-fingergripperself-aligningcentringFig11Tab2Ref10“JixieSheji”24121620133