• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (21): 64-72.doi: 10.3901/JME.2019.21.064

• 机构学及机器人 • 上一篇    下一篇

基于柔性并联机构的变刚度夹持器设计分析

李建钢1,2, 杨桂林1,2, 张林2, 张驰2   

  1. 1. 中国科学院大学 北京 101400;
    2. 中国科学院宁波材料技术与工程研究所浙江省机器人与智能制造装备技术重点实验室 宁波 315200
  • 收稿日期:2019-01-02 修回日期:2019-07-18 出版日期:2019-11-05 发布日期:2020-01-08
  • 通讯作者: 杨桂林(通信作者),男,1965年出生,博士,高级研究员,博士研究生导师。主要研究方向为精密运动系统、先进机器人及智能制造装备技术。E-mail:glyang@nimte.ac.cn
  • 作者简介:李建钢,男,1993年出生。主要研究方向为机器人末端变刚度夹持器设计及其系统集成。E-mail:lijiangang@nimte.ac.cn
  • 基金资助:
    装备预研领域基金重点项目(61409230101)和NSFC-浙江省两化融合联合基金(U1509202)资助项目。

Design Analysis of a Variable Stiffness Gripper Based on Flexible Parallel Mechanism

LI Jiangang1,2, YANG Guilin1,2, ZHANG Lin2, ZHANG Chi2   

  1. 1. University of Chinese Academy of Sciences, Beijing 101400;
    2. Zhejiang Key Laboratory of Robotics and Intelligent Equipment Technology, Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315200
  • Received:2019-01-02 Revised:2019-07-18 Online:2019-11-05 Published:2020-01-08

摘要: 提出一种新型双夹爪变刚度夹持器,每个夹爪是一个由四根对称旋转柔性支链组成的变刚度柔性并联机构(VSFPM)。夹持器由两个电动机驱动,其中一个宏动电动机用于控制夹爪的开合运动,适应被抓取物体的几何尺寸;另一个微动电动机用于控制柔性支链的旋转角度,以调整夹爪在开合方向的刚度,实现变刚度柔顺抓取,提高对被抓取物体几何形状、材料属性的适应能力。基于刚度投影方法,分析了基于旋转支链柔性并联机构在夹持方向上的变刚度原理;应用基于伴随变换的刚度分析方法,求得了夹爪在任意旋转角度下的刚度模型;通过有限元仿真分析,验证了刚度模型的准确性。此外,有限元分析结果表明,提出的VSFPM机构具有较大的刚度调整范围(0.178~9.663 N/mm),为变刚度柔性夹持器设计提供了新的思路和方法。

关键词: 变刚度夹持器, 柔性并联机构, 刚度模型, 有限元分析

Abstract: A novel double-clamping-claw gripper with variable stiffness is proposed. Each clamping-claw of the gripper is a variable stiffness flexible parallel mechanism (VSFPM), which consists of four flexible limbs with symmetrical rotation. The gripper has two driving motors. One motor is employed to control the open-and-close motion of the gripper to adapt to the geometric size of the gripping objects, while the other is employed to control the rotation angle of the flexible limbs to change the stiffness of the clamping-claw in open-and-close direction, so as to realize flexible grasping with variable stiffness and improve the adaptability of the clamping-claw to the geometric shape and material properties of the gripping objects. Based on stiffness projection method, the working principle of the VSFPM is analyzed. Based on adjoint transformation, the stiffness model of the VSFPM is proposed, so that the stiffness of the VSFPM for an arbitrary rotation angle of the rotary limb is obtained. The accuracy of the stiffness model is verified through finite element analysis (FEA). In addition, the FEA results show that the proposed VSFPM has a wide stiffness changing range (0.178-9.663 N/mm). The research provides a new approach for the design and analysis of flexible gripper with variable stiffness.

Key words: variable stiffness gripper, flexible parallel mechanism, stiffness model, finite element analysis

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