LIPSA-L手:直线平夹自适应机器人手

LIPSA-L Hand: Straight Line Clip ADAPTS to Machine Manpower

传统平行夹持自适应机器人手仅具有圆弧平夹功能,无法达到对薄板物体的良好夹持。提出了直线平行夹持与自适应相结合的LIPSA抓取功能。设计了一种具有LIPSA抓取功能的新型欠驱动机器人手——LIPSA-L手,具有2个手指,由一个电机驱动。在LIPSA-L手指中,采用切比雪夫连杆机构实现末端点的直线轨迹,利用同向等速传动带轮机构实现末端指段的平动,利用空程传动配合弹簧实现手指自动适应不同物体的包络握持目的。分析与实验结果表明,LIPSA-L手可以在直线平行夹持与自适应两种模式之间切换;既能够直线平动第二指段去夹持物体,又能够以多个指段包络抓取物体,获得出力更大的握持效果。

The traditional parallel clamping self-adapting machine has the function of circular arc only, unable to meet the goocl clamping of thin plate objects. In this paper, the LIPSA scraping function of parallel clamp and adaptive phase ispresented. In this paper, a new type of under-drive robot with LIPSA grabbing function is designed. The lipsa-1 hand has two fingers and is driven by an electric motor. In LIPSA - L fingers, using the chebyshev points at the end of the connecting rod mechanism to straight line trajectory, using the same constant speed refers to the period at the end of the belt wheel mechanism to translation, using idle transmission with spring fingers automatically adapt to different objects of envelope grip. The analysis and experimental results show that the lipsa-1 hand can be switched between parallel and self-adaptive modes. To be able to move a straight line into the second paragraph to hold the object, and to be able to grasp the object with multiple points, to achieve a greater grip effect.