摘要
柔性抓持机器人具有柔顺性、高适应性、安全性等优势,但是大多数柔性抓持机器人存在负载力不足、高负重比无系留开发难的问题。为了解决这些问题,基于尖端牵引致动、封闭环结构、刚柔混合,设计了一种高负重比无系留柔性抓持机器人,兼具多指型开式抓持结构和封闭式抓持结构的优点。高负重比无系留柔性抓持机器人的质量为1.76 kg,能够执行至少200次开合动作,负载能力可以达到20 kg,负重比高于11。与传统绳索驱动柔性抓持机器人进行对比测试,结果表明封闭环绳索驱动所需驱动力小,输出的抓持力大,但响应速度慢于传统绳索驱动。通过设计与测试,为高负重比无系留柔性抓持机器人提供了新构型,促进其进入农业采摘、空间捕获等高负载、大范围作业场景。
Flexible gripping robot has the advantages of flexibility, high adaptability, and safety, but most of the flexible gripping robots have the problems of insufficient load force and difficulty in untethered development with high load-bearing ratio. In order to solve these problems, based on the cutting-edge traction actuation, closed-loop structure and rigid-flexible mixing, a high load-bearing ratio untethered flexible gripping robot was designed, which has the advantages of multi-finger open gripping structure and closed gripping structure.The mass of the highload-bearing ratio untethered flexible gripping robot is 1.76 kg, which is capable of performing at least 200 opening and closing actions, and the load capacity can reach 20 kg, with a load-bearing ratio higher than 11.Compared with the traditional rope-driven flexible gripping robot, the result shows that the driving force required for the closed-loop rope drive is small, and the output gripping force is large, but the response speed is slower than that of the traditional rope drive.Through design and testing, a new configuration is provided for the high load-bearing ratio untethered flexible gripping robot, and it is promoted to enter high-load and large-scale operation scenarios such as agricultural picking and space capture.
出处
《机械制造》
2024年第12期1-8,18,共9页
Machinery
基金
国家自然科学基金资助项目(编号:52375030)
浙江省自然科学基金资助项目(编号:LQ24E050001)。
关键词
柔性抓持机器人
高负重比
无系留
设计
测试
Flexible Gripping Robot
High Load-bearing Ratio
Untethered
Design
Testing
