基于串联增力机构的机械手夹持装置设计

摘要

In this paper ,a kind of clamping manipulator based on a series force amplifier composed of spiral ,hinge stem and lever has been designed .Its working principle and characteristics are discussed ,and the calculation formula of clamping force are given .The manipulator is simple in structrue ,convenient in operation ,and powerful in clamping force .%设计了一种基于螺旋-铰杆-杠杆串联增力机构的机械手，分析了其工作原理和性能特点，给出了夹持力的计算公式。该机械手结构简单，以方便传输和携带的电能为动力，同时采用增力机构，提高了机械手的夹持能力。