摘要
现有刚性机械手无法满足对易碎和软质物体的抓取,无法适应混流生产线。柔性抓手具有高自由度和自适应能力,故设计一种纤维增强型柔性指节,可组装制备柔性抓手。本文介绍了纤维增强型柔性指节的制备方法和工艺流程,制备了一套纤维增强型柔性指节实物。指节主体为硅胶材质,使用碳纤维布作为限制层,使用车胎帘线作为纤维增强层。使用自行搭建的测试环境和压力驱动控制器,对柔性指节的弯曲半径和接触推力进行测试,试验结果表明该柔性指节能够在50-90 kPa时产生明显的弯曲效果和较好的接触推力,满足抓取需求。具有良好的自适应性和可靠性,适合用于抓捕工作。
The existing rigid manipulator can not meet the requirements of fragile and soft objects grasp, can not adapt to mixed-flow production line. Flexible grip has high degree of freedom and adaptive ability, so a fiber-reinforced flexible knuckle is designed,which can be assembled and fabricated. The knuckle body is made of silica gel, with carbon fiber cloth as the limiting layer and tire cord as the fiber-reinforced layer. The preparation method and technological process of fiber-reinforced flexible knuckles were introduced. A set of fiber-reinforced flexible knuckles were prepared. The bending radius and contact thrust of the flexible knuckle were tested by using the self-built test environment and pressure drive controller. The test results show that the flexible knuckle can produce obvious bending effect and good contact thrust at 50-90kpa, which can meet the demand of grasping. With good adaptability and reliability, it is suitable for capture work.
作者
王云龙
王义翔
李昕迪
杨东亮
WANG Yun-long;WANG Yi-xiang;LI Xin-di;YANG Dong-liang(Institute of Intelligent Manufacturing,Heilongjiang Academy of Sciences,Harbin 150090 China;Harbin Huade University,Harbin 150025 China)
出处
《自动化技术与应用》
2023年第1期39-41,50,共4页
Techniques of Automation and Applications
基金
黑龙江省科学院对外合作项目(HZ2022-02)。
