气动力敏机械手指气膜压力场分析

Air Film Pressure Field Analysis of Pneumatic Force Mechanical Finger

气动力敏机械手指是利用气压测微技术和气膜柔性承载技术,将触觉传感器和普通机械手结合为一体,实现对工件无损伤抓取。芯轴与辊环之间的气膜是组成测力系统的关键部分,气膜内的气体压力分布状态直接影响气动力敏机械手指的工作性能。介绍了气动力敏机械手指的结构及工作原理,推导了气膜压力场雷诺方程,并采用FLUENT软件仿真计算了气膜压力场。得出的结果为实际气动力敏机械手指的设计提供了理论基础。

Pneumatic force mechanical finger that makes use of finger pneumatic micrometer technology and air film flexible bearing technology which combined in unity of tactile sensor with ordinary manipulator, and realizes capture of workpiece atraumatically. Air film between mandrel and roll collar is critical part of force measuring system, and state of pressure distribution of air film impacts immediately work performance of pneumatic force mechanical finger. The structure and work principle of pneumatic force mechanical finger were introduced, the reynolds equation of air film pressure field was deduced, and the air film pressure field was simulated and calculated with the help of FLUENT software. The obtained conclusion provides theoretic basis for the design of actural pneumatic force mechanical finger.