二关节机器人柔性手部的研究

Research on the Two Joints Flexible Robot Hand

针对目前机器人手部夹持特定物体时存在夹紧力不够、夹紧位置不合理等问题,提出将机器人手部设计成两关节形式,并将机器人结构中手指和连杆之间做成燕尾槽接口连接。计算了机器人手部所需的夹紧力,并采用SolidWorks软件对手部关键部件——主连杆组件进行位移和应变分析。实验结果证明,这种二关节机器人手部夹紧效果较好。

Iu view of the defects of present ilandling robot hand, such as insufficient clamping force, not reasonable clamping po- sition, the two joints robot hand was proposed and designed. At the same time, the dovetail groove interface connection was applied in 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. The displacement check and the strain check of the connecting rod subassembly, which were very important to robot hand, were also conducted by SolidWorks software. The experimental results show that the clamping mech- anism is better.