摘要
针对现有的柔性手指运动精度低、抓取可靠性差、承载能力小等缺点,设计一种新型柔性仿生手指。根据柔性仿生手指的结构,构建柔性仿生手指的等效机构,分析了该手指机构的结构特点和自由度。结合等效机构各构件之间的运动关系推导了手指参考点位置、速度、加速度方程式。利用Solidworks软件对柔性仿生手指运动学方程进行了验证。分析了柔性仿生手指的工作空间和运动特性,为柔性仿生手指的应用和推广奠定了理论基础。
The existing flexible bionic finger has the disadvantages of low motion accuracy,poor grasping reliability and poor bearing capacity,so a new bionic flexible finger is designed.According to the structural characteristics of the bionic flexible finger,the equivalent mechanism of the finger is constructed.The struc-tural characteristics and degrees of freedom of the finger mechanism are analyzed.Based on the kinematic relationship between the components of the equivalent mechanism,the kinematic equations of the position,velocity and acceleration of the reference point on the finger are derived.The kinematics equation of flexi-ble finger is verified by advanced CAD software.The workspace and motion characteristics of flexible bionic fingers are analyzed,that provide the theoretical and technical foundations for its application.
作者
张灿果
朱承科
陈海
张健伟
ZHANG Canguo;ZHU Chengke;CHEN Hai;ZHANG Jianwei(School of Mechanical Engineering,Hebei University of archi tecture,Hebei Zhangjiakou 075024;School of Mechanical and Electrical Engineering,Bingtuan Xingxin Vocational and Technical College,Xinjiang Tiemenguan 841007,China)
出处
《德州学院学报》
2023年第6期50-55,共6页
Journal of Dezhou University
基金
河北省高等学校基本科研业务费项目(2022CXTD05)
河北省教育厅青年基金(QN2021051)
兵团兴新学院重点课题(YJZDKT202311)。
关键词
柔性
仿生手指
运动学
等效机构
flexible
bionic finger
kinematics
equivalent mechanism
