欠驱动手爪设计及接触力分析与仿真

摘要

A kind of under-actuated gripper is designed to solve the poor adaptability of the manipulator which is used in automation product field. Overall structure of the under-actuated gripper and the existing fetching configuration are analyzed. A precise static model is established and the contact force control method is proposed based on the principle of virtual work, including fetching spring torque and gravity of object. The static model and contact force control method are verified by using ADAMS. The simulation results show that the under-actuated gripper's grab range is larger and the theoretically calculated value is similar to the simulation result, the control method of the contact force is really effective.%针对现阶段自动化生产中末端执行器适应性较差的问题,设计了一种采用欠驱动机构的机械手爪.对欠驱动手爪的总体结构和存在的各个抓取构形进行了分析.基于虚功原理,将弹簧扭矩和被抓取目标重力纳入考虑范围,建立了较为精确的静力学模型,提出了接触力调节的方法.利用ADAMS对静力学模型和接触力调节方法进行了仿真验证,结果表明该欠驱动手爪抓取范围较大,理论计算与仿真结果误差较小,接触力调节方法切实有效.