仿形夹持器的设计研究

Design and Research of Copy Gripper

多数夹持器适用于夹取表面规则单一的物件,因为夹持形状复杂的物件接触面受力不均匀,难以实现稳定夹取的过程,所以根据这一难题,文章通过分析夹取物件表面形状特征,应用逆向建模还原被夹取物件的模型。从模型结构特性出发,用ZWSOFT软件设计出与夹取物件特征形状相符的仿形夹持器,依靠夹持器内部造型特征,对物件贴合夹取,并通过CAE受力仿真分析与夹取试验得出:气压大小为0.58MPa,转偏角为10°时,仿形夹持器夹取稳定性效果最好。应用得出的参数,与普通夹持器进行夹取试验对比,结果表明:仿形夹持器对夹取复杂表面的物件具有一定优势。

Most grippers are suitable for clamping objects with a single surface rule.Because the clamping objects with complex shapes have uneven forces on the contact surface,it is difficult to achieve a stable clamping process.Therefore,according to this problem,this paper restores the clamping object model by analyzing the surface shape characteristics of the clamping objects and applying reverse modeling.According to the structural characteristics of the model,a copy gripper matching the feature shape of the clamping object was designed with ZWSOFT software,and the object was fitted and clamped by relying on the internal modeling characteristics of the gripper.Through CAE force simulation analysis and clamping test,it was concluded that when the air pressure was 0.58MPa and the deflection Angle was 10°,the clamping stability of the copy gripper was the best.By using the obtained parameters and comparing with the ordinary gripper,the results show that the copying gripper has some advantages in clamping objects with complex surfaces.