带有并联缓冲机构的三指机器人夹持器设计

Design of three-finger robot gripper with parallel buffer mechanism

针对机器人抓取过程中易出现碰撞、造成夹持器或机器人损坏问题,且为了使夹持器具有自适应能力并使用尽量少的驱动,设计了一种仅有一个驱动的带有3-RRS并联缓冲机构的三指夹持器.基于螺旋理论设计了具有“一平两转”自由度的并联缓冲机构,并基于在圆柱坐标系内推导的运动学逆解进一步设计了其结构.设计了一种同步平动三指夹持器,基于虚功原理对其进行受力分析并运用遗传算法计算了夹爪的结构参数,通过仿真模型验证和试制样机实验验证了结构设计的合理性.所提出的夹持器能够降低抓取过程中碰撞对于机器人本体的影响,且具有良好的对物体和环境的适应能力及较高的鲁棒性.

Aiming at the problem that collisions are prone to occur during the robot grasping process,causing damage to the gripper or the robot,and the gripper needs to be adaptable while using as few drives as possible,a three-finger gripper with only one drive and a 3-RRS parallel buffer mechanism was designed.Based on the spiral theory,a parallel buffer mechanism with“1T2R”degrees of freedom was designed,and its structure was further designed based on the inverse kinematic solution derived in the cylindrical coordinate system.A synchronous translational three-finger gripper was designed,whose force was analyzed based on the principle of virtual work,and the structural parameters of the gripper were calculated using a genetic algorithm.The rationality of the structural design was verified through simulation model verification and trial prototype experiments.The proposed gripper can effectively alleviate the impact of collision on the robot body during the grasping process,and has good adaptability to objects and environments with high robustness.