基于协作机器人的物流分拣软体夹具设计

Design of Logistics Sorting Software Fixture Based on Cooperative Robot

为解决传统夹具适应性较弱的问题,设计一种以热塑性聚氨酯弹性体为材料的软体夹具。该材料低温柔顺性好、强度高,因此软体夹具可以与物体表面实现良好的贴合。利用SolidWorks完成软体夹具的方案设计,并在ABAQUS中进行夹爪适应性分析,计算夹爪抓取不同物体所产生的变形和应力。通过弯曲角度测试和末端接触力测试选择合适的夹爪长度,并通过3D打印制作软体夹具。在Baxter机器人上进行了质量测试和抓取试验,结果表明:该软体夹具可以有效、稳定、无损地抓取日常生活用品。

In order to solve the problem of weak adaptability of traditional fixtures,a software fixture made of thermoplastic polyu⁃rethane elastomer was designed.The material has good low temperature flexibility and high strength,so the software fixture can achieve a good fit with the surface of the object.The design of the software fixture was completed through SolidWorks,the adaptability of the gripper was analyzed in ABAQUS,and the deformation and stress caused by the gripper gripping different objects were calculated.Through the bending angle test and the end contact force test,the appropriate jaw length was selected,and the software fixture was made through 3D printing.The weight test and grasping test were carried out on the Baxter robot.The results show that the software fix⁃ture can grasp daily necessities effectively,stably and without damage.