基于并联手指结构的多功能灵巧手的设计与研究

Design and Research of Multifunctional Dexterous Hands Based on Parallel Finger Structure

为满足工业生产对机器人末端夹持器灵巧性和承载能力的要求,设计了一种基于并联手指结构的多功能灵巧手。对手指机构的运动学、工作空间、奇异性进行了分析,对灵巧手的承载能力进行优化,并通过ADAMS仿真进行了验证。样机实验说明灵巧手具有理想的工作空间和较好的自适应性,可以实现对不同形状物体的随形抓取,适应柔性化工业生产的要求。

In order to meet requirements for the dexterity and carrying capacity of robot end grippers in industrial productions,a multifunctional dexterous hand was designed based on parallel finger structure.Firstly,kinematics,working spaces,and singularity of finger mechanisms were analyzed.Then,the carrying capacity of the dexterous hands was optimized and verified by ADAMS simulation.Prototype experiments show that the dexterous hands have ideal working spaces and good adaptability,and may realize conformable grasping of objects with different shapes,which makes the dexterous hands adapt to the requirements of flexible industrial productions.