可替换式单关节机器人柔性手部的研究

Research on the Replaceable and Single Joint Flexible Robot Hand

针对目前搬运类机器人手部存在结构较为单一、材料利用率不高及适用范围较小等问题,提出将机器人手部设计成可替换形式,并将机器人结构中手指和连杆之间做成燕尾槽接口连接。获取了机器人手部的夹紧力。采用SolidWorks软件对机器人手部关键部件——连杆组件进行应力分析。

In view of the defects of present handling robot band, such as relatively single design, low material utilization rate and small application, the replaceable robot hand was proposed and designed. At the same time, the dovetail groove interface connection was applied between the connecting rod and the robot finger. The size and the shape of the dovetail groove in the connecting rod were fixed. The clamping force of the robot hand was obtained. In addition, the stress check of the connecting rod subassembly, which was very important in robot hand, was also conducted by SolidWorks software.