摘要
针对传统刚性夹持器存在的抓取适应性差、表面硬度高等问题。通过采用可熔气腔支撑与3D打印技术,设计并制作了集驱动于一体且重量为150g的多指柔性夹持器样机。通过实验测试平台得到了抓取直径与气腔内部气压之间的关系,并对不同的生活物品进行了抓取实验。实验结果表明:建立的直径与气压模型对被抓物体直径有较高的识别率,平均误差率为3.22%,可以实现对被抓物体尺寸识别,并且具有质量轻、驱动气压低、抓取力强等优点。
Aiming at the problems of poor grasping adaptability and high surface hardness of traditional rigid manipulators.By using fusible gas chamber support and 3D printing technology to make corresponding mould,the modle of integrated multi-finger flexible gripper was designed and weight is 200g.The relationship between diameter and air pressure in the air chamber was obtained through the experimental platform,and the grabbing experiments of different objects were carried out.The experimental results show:the fitting data relationship has a high recognition rate for the diameter of the captured object,with an average error rate of 3.22%and the size of the grabbed object can be judged.The designed multi-fingered flexible gripper has the advantages of light weight,low driving pressure and strong grasping force.
作者
张丽丽
覃祖和
ZHANG Lili;QIN Zuhe(Guangxi Technological College of Machinery and Electricity,Nanning,Guangxi 530007,China)
出处
《机械设计与研究》
CSCD
北大核心
2019年第6期28-31,36,共5页
Machine Design And Research
基金
2017年度广西机电职业技术学院科研项目(2017YKY2D05)。
关键词
可熔气腔
柔性夹持器
尺寸识别
抓取实验
fusible chamber
flexible gripper
dimension recognition
grasping experiment
