二自由度开口型空间夹持机构研究

doi:10.3901/JME.2018.11.094

机械工程学报 ›› 2018, Vol. 54 ›› Issue (11): 94-101.doi: 10.3901/JME.2018.11.094

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二自由度开口型空间夹持机构研究

曹毅^1,2,3, 刘凯^1,3, 桂和利⁴, 周辉^1,3, 张洪^1,3

1. 江南大学机械工程学院无锡 214122;
2. 哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨 150080;
3. 江南大学江苏省食品先进制造装备技术重点实验室无锡 214122;
4. 无锡科技职业学院无锡 214028

收稿日期:2017-05-19 修回日期:2017-12-13 出版日期:2018-06-05 发布日期:2018-06-05
通讯作者: 曹毅(通信作者),男,1974年出生,博士,教授,硕士研究生导师。主要研究方向为柔顺机构学及机器人技术。E-mail:caoyi@jiangnan.edu.cn
基金资助:
国家自然科学基金（50905075）、江苏省"六大人才高峰"计划（ZBZZ-012）、机器人技术与系统国家重点实验室开放基金（SKLRS-2016-KF-06）和江苏省研究生实践创新计划（SJCX17_0486）资助项目。

The Research of One Two-degree-of-freedom Spatial Gripper with Opening

CAO Yi^1,2,3, LIU Kai^1,3, GUI Heli⁴, ZHOU Hui^1,3, ZHANG Hong^1,3

1. School of Mechanical Engineering, Jiangnan University, Wuxi 214122;
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbini 150080;
3. Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Jiangnan University, Wuxi 214122;
4. Wuxi Professional College of Science and Technology, Wuxi 214028

Received:2017-05-19 Revised:2017-12-13 Online:2018-06-05 Published:2018-06-05

摘要/Abstract

摘要： 为提高夹持机构夹取操作对象时的灵活性，探索了夹持机构的实现形式，提出一种基于柔性铰链的二自由度开口型空间夹持机构。分析了该机构基于柔度特性的位移放大倍率模型，并通过与有限元仿真结果的对比，验证了该模型的正确性；其次，以空间夹持机构的几何结构为基础，研究了夹持姿态与输入位移之间的关系，揭示了其夹持姿态的变化规律；最后，通过分析二自由度柔性铰链在各个方向上的最大转角，得到了该空间夹持机构的可达工作空间。上述分析证明了该机构的可行性及有效性。

关键词: 放大倍率, 夹持姿态, 可达工作空间, 空间夹持机构, 柔性铰链

Abstract: In order to improve the flexibility of gripper, the realization form of gripper is explored and a two-degree-of-freedom (2-DoF) spatial gripper with opening based on flexure hinge is proposed. Firstly, the model of the displacement amplification ratio is analyzed on the strength of flexibility characteristic. Meanwhile, the correctness of the model is validated by the comparison between the results of theoretical calculation and finite element analysis. Secondly, the relationship between the input displacement and gripping orientation is researched on the basis of geometric construction, and the change rule of the gripping orientation is revealed. Finally, the reachable workspace of the spatial gripper is acquired on account of the analysis of the maximal angle of the 2-DoF flexure hinge along different directions. The feasibility and effectiveness of the spatial gripper is proved by the above analyses.

Key words: amplification ratio, flexure hinge, gripping orientation, reachable workspace, spatial gripper

中图分类号:

TH122

曹毅, 刘凯, 桂和利, 周辉, 张洪. 二自由度开口型空间夹持机构研究[J]. 机械工程学报, 2018, 54(11): 94-101.

CAO Yi, LIU Kai, GUI Heli, ZHOU Hui, ZHANG Hong. The Research of One Two-degree-of-freedom Spatial Gripper with Opening[J]. Journal of Mechanical Engineering, 2018, 54(11): 94-101.

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二自由度开口型空间夹持机构研究

The Research of One Two-degree-of-freedom Spatial Gripper with Opening

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