新型柔性夹持装置软体手指的数学模型研究

摘要

In modern industrial production,people have to produce a variety of products in a single production line, so that the grip-per at one station often needs to clamp different working pieces. This paper designs a new gripper with flexibility and adaptability, in-troduces the structure and motion characteristics of a soft-drive three-tentacle flexible gripper, deduces its bending deformation mathematical model and verifies its the accuracy by the test.%在现代工业生产中，同一生产线上的产品种类不断增多，同一工位的机械手常常面对不同的抓持对象，因而研究柔顺的、适应多种产品的夹持装置具有重要的工程应用价值。介绍一种软体驱动三触手柔性手爪的结构及其动作特点，推导建立了软体手指弯曲变形的数学模型，通过建立相关测试系统验证了该数学模型的准确性。