一种基于四构件变胞机构的气动柔性拿捏机械手的设计及其运动学分析

Design and Kinematic Analysis of One Pneumatic Self-adaption Flexible Master Manipulator Based on Four-constructional Element Metamorphic Mechanism

变胞机构与常见的定自由度机构相比,具有特殊的性能。设计了一种以气体为驱动力的自适应四构件变胞拿捏机械手,该机械手简化为3个手指,以一个气缸驱动,每个手指有两个转动关节,在每个手指拿捏物体部位衬以硅胶并贴以力传感器,控制气缸压力,致使拿捏力可在设定范围内进行调整,是一种具有一定柔性的执行器。该执行器将变胞机构的工作原理和气体柔性驱动技术相结合,是一种基于四构件变胞机构的气动自适应柔性拿捏机械手。阐述了该拿捏机械手的机构结构原理,并对该机械手进行了运动学分析。分析表明该机械手具有自适应性,适合用于在易碎的玻璃瓶抓取、人体推拿执行器中等场合。

As compared with the common fixed degree of freedom mechanism,the metamorphic mechanism has special proper-ties. One kind of self-adaption four-constructional element metamorphic master manipulator was designed,which was driven by gas. This manipulator was simplified and had only three fingers,which were driven by a pneumatic cylinder,and each finger had two revo-lute joints. In order to control the cylinder pressure,the part of each finger which would be used to hold object was lined with silica gel and force sensor,so that the holding force could be adjusted in a certain range. This manipulator was a flexible actuator to a certainty. This actuator was combined of the working principle of metamorphic mechanism with the technology of the gas-flexible-drive,which was one kind of pneumatic self-adaption flexible master manipulator based on four-constructional element metamorphic mechanism. The structure principle of the master manipulator was described,and it was analyzed in kinematics. The analysis shows that the manipulator has ability of self-adaption,which is suitable to use in catching fragile glass bottles,the human massage actuator and others.