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可手内操作的欠驱动手爪设计与仿真

发表时间:2021-03-31  浏览量:58  下载量:9
全部作者: 蒋少男,褚明
作者单位: 北京邮电大学自动化学院
摘 要: 为解决空间机械臂在轨服务时末端执行器抓捕目标后不能重定向和重定位的问题,对欠驱动结构和活动表面技术进行研究,设计了一种可手内操作的欠驱动手爪。手爪采用腱传动的方式,一个电机通过腱绳驱动3个手指,共6个关节的转动实现欠驱动,6个指节的表面通过电机驱动皮带施加作用力实现抓捕目标后的手内操作。采用SolidWorks三维建模软件进行结构设计,通过Adams虚拟样机进行仿真分析。结果表明,手爪可对圆柱形物体实行对立抓取,对球形物体实行对心包络抓取,且抓取后均可重定向,实现了稳定抓取和手内操作功能。
关 键 词: 机械设计;在轨服务;欠驱动;活动表面
Title: Design and simulation of underactuated gripper with function of in-hand operating
Author: JIANG Shaonan, CHU Ming
Organization: School of Automation, Beijing University of Posts and Telecommunications
Abstract: In order to solve the problem that the target can’t be redirected and repositioned after being captured by the end effector of the space manipulator during the on-orbit service, the underactuated structure and the active surface technology are studied, and an underactuated gripper with function of in-hand operating is designed. The gripper is driven by tendon, one motor drives six joints of three fingers to rotate to achieve under-actuation. The surfaces of the six knuckles are fitted with belts which are driven by motors to achieve the function of operating target after capture. The structure is designed with SolidWorks 3D modeling software, and the simulation analysis is performed by Adams virtual prototype. The result shows that the gripper can perform opposite grasping on the cylindrical target, and perform envelope grasping on the spherical target, and both targets can be redirected after grasping. The gripper achieves the function of stable capture and in-hand operating.
Key words: mechanical design; on-orbit service; under-actuation; active surface
发表期数: 2021年3月第1期
引用格式: 蒋少男,褚明. 可手内操作的欠驱动手爪设计与仿真[J]. 中国科技论文在线精品论文,2021,14(1):1-7.
 
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