一种机器人末端操作器的抓握研究

摘要

In some special case,the robot should be requested to capture the floating aim in large range.So a special end manipulator was developed.The designed configuration could help the manipulator to limit the aim in 6-DOF.By study of the grip,the different motion tracks could be founded.In the capture experiments,it can be found that the fast close can eliminate the space which the aim can move.And the most grip space and results can be obtained by using the correct control.%特殊领域下要求机器人具有极大的捕获范围及定姿定位精度,用以捕获漂浮目标。研究了一种机器人末端操作器,通过合理设计构型使得末端操作器具备六自由度限位能力;再通过对其抓握过程的研究,建立了不同条件下的抓握轨迹。由抓握试验可知：操作器快速闭合和锁紧有利于减小位姿偏移;采用合理的抓握控制,可以获得最大的抓握范围以及最好的抓握效果。