双电机协同控制手指变位与转位的变掌机械手

A Manipulator Controlled by Two Cooperativemotor with Fingers’ Position and Angel Changed Simultaneously

针对现有欠驱动机械手存在的抓取范围不足的问题,提出一种基于曲柄滑块机构,连杆长度可变的并联机构变掌机械手。此机械手使用无驱动弹性手指,采用两个步进电机驱动,协同控制曲柄的转动角度和连杆的长度,从而实现抓取过程中手指指根的变位与转位,能够满足长方形、圆形等物体的抓取,对抓取对象的外形和尺寸具有良好的适应性。首先给出机械手结构,提出来了机械手的运动过程及抓取位势;分析了机械手对圆柱形物体的抓取过程及状态,研究其抓取特点;讨论机械手的抓取范围及适应性。

In view of the problem thattraditional manipulatorhaven’t enough catching range,we propose a changing-palm manipulator based on a crank link mechanism,which the length of the connecting rod is variable.The manipulator has two motor to control crank and link together,and the fingers have no drive.So the manipulator can change the position and angel of the finger at the same time.The manipulator can catch rectangle and round object and has better adaptability.First we propose the structure of it,then raising legitimate movement and catching form;Analysis the process and mode when catching round object.Finally we discuss the catching range and adaptability of the manipulator.