摘要
为适应抓取大小苹果的需要,设计了1种灵活的3指6关节苹果抓取机械手结构,3根手指呈圆周方向均匀分布,活页双铰链关节手指由单根轴向膨胀型人工肌肉驱动。建立了抓取力与驱动压力间的关系式,通过全局优化方式,得到2种扭弹簧的弹性参数和预紧角度。计算结果表明:在设定系统压力下,无需压力反馈,满足抓取大小苹果且不损坏最大横径苹果的受力要求。
In order to meet the need of all grasp for larger or small apples.A smart manipulator of three-finger with six-joint for grasp of apple was proposed.Three fingers were symmetrically fixed around circle.Each finger was with two hinge joints and driven by one piece of axial expanse artificial muscle.The equation between air pressure and grasp force was created.The elastic coefficients and preload angles of two torsion springs were obtained by global optimization.The results of calculation indicated that grasp load for larger or small apples under a setting system pressure did not damage the largest section apple without pressure feedback.
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2010年第1期140-144,共5页
Transactions of the Chinese Society of Agricultural Engineering
基金
浙江大学流体传动与控制国家重点实验室开放基金(GZKF-2006003)
关键词
柔性结构
机械手
机器人
苹果抓取
人工肌肉
flexible structures
manipulators
robots
grasp of apple
artificial muscle
