基于Adams的圆形物体夹持机械手设计与仿真分析

The design and simulation analysis of circular object gripping manipulator based on Adams

为了满足机械手对不同形状物体的精确抓取要求,针对不同的直径圆柱目标物,文中提出了一种可以快速抓取的机械手新结构,利用Adams软件建立了模型,且分析了目标物体在夹持过程中的受力及位移情况。并在确定分析正确的情况下,制作了实物,实现了目标物体的抓取要求,并在竞赛过程中取得了优异的成绩。

To meet the different shape of the object the robot crawls precise requirements for different diameter cylindrical ob- ject, the paper proposes a new structure of the robot can be quickly captured by Adams software to build a model, and analyze the target object in holding during the force and displacement situations. And under the right circumstances to determine the analysis, produced a kind, to achieve the requirements of the target object to crawl, and have achieved excellent results in the competition process.