柔顺气动手爪的设计研究

Design of the Flexible Gripper Actuated by Pneumatic Muscles

安全柔顺地抓取对象是机器人手爪的一项重要指标,气动肌肉作为一种类似生物肌肉的柔性驱动器,可以有助于实现这一目标。文中讨论基于生物运动机制的仿人两指手爪的结构和工作原理,分析了气动肌肉的输入压力是决定手指抓取力和手指张角大小的唯一因素,为手指的柔顺控制提供了理论依据。

One of the important requirements of a robot gripper is grasping objects in a safe and compliant way. Pneumatic muscles can be used for this purpose owing to their similar features like natural muscles. In this paper, a new type of robot gripper with two fingers actuated by 4 pieces of pneumatic muscle is presented. After describing the mechanical structure and working principle, the static model of the finger＇s grasping force is set.