SIA OpenIR  > 机器人学研究室
基于电机驱动的仿生柔性机械手研究
Alternative TitleResearch on bionic soft gripper drived by motor
席浩洋1,2; 王挺1; 姚辰1; 徐瑶1,2; 李小凡1
Department机器人学研究室
Source Publication高技术通讯
ISSN1002-0470
2019
Volume29Issue:4Pages:362-370
Contribution Rank1
Funding Organization战略性国际科技创新合作重点专项(SQ2016YFHZ021154)
Keyword电机驱动 柔性机械手 仿生 抓取
Abstract针对传统机械手结构复杂、适用性差等缺点,综合已有柔性机械手的优缺点,基于变色龙舌头在捕食时的变形特性,利用电机驱动,设计了一种仿生柔性机械手。该机械手采用无指结构,利用直线电机推杆引导弹性硅胶膜的屈曲变形实现对目标的柔性抓取。首先根据柔性机械手的特性,建立了力分析模型,分析了抓取过程中目标的受力状态。然后搭建了实验平台进行抓取实验,验证了模型的合理性。进行了机械手功能验证实验,实验结果表明该柔性机械手具有适应性高、灵活性强等优点,能够对大小和表面特性各异的物体进行可靠抓取。
Other AbstractConsidering the disadvantages of structural complexity and poor applicability of traditional manipulator,combining the advantages and disadvantages of existing flexible grippers,based on the deformation principle of the chameleon’s tongue during predation,a bionic soft gripper is designed,which is driven by motor. Fingerless structure is used in the gripper which utilizes the putter of linear motor to guide the buckling deformation of elastic silica membrane to achieve the flexible grasps on the objects. Based on the characteristics of the soft gripper,a force analysis model is established,and the force state of objects during the process of grasping is analyzed. Furthermore, an experimental platform is set up to carry out the grasping experiments,and the rationality of the analysis model is verified. The relational experiment is carried out to verify the function of gripper,and the experiment results show that the soft gripper has the advantages of high adaptability and flexibility,and it can reliably grasp objects with widely varying surface characteristics and sizes.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24666
Collection机器人学研究室
Corresponding Author席浩洋
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
席浩洋,王挺,姚辰,等. 基于电机驱动的仿生柔性机械手研究[J]. 高技术通讯,2019,29(4):362-370.
APA 席浩洋,王挺,姚辰,徐瑶,&李小凡.(2019).基于电机驱动的仿生柔性机械手研究.高技术通讯,29(4),362-370.
MLA 席浩洋,et al."基于电机驱动的仿生柔性机械手研究".高技术通讯 29.4(2019):362-370.
Files in This Item: Download All
File Name/Size DocType Version Access License
基于电机驱动的仿生柔性机械手研究.pdf(11366KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[席浩洋]'s Articles
[王挺]'s Articles
[姚辰]'s Articles
Baidu academic
Similar articles in Baidu academic
[席浩洋]'s Articles
[王挺]'s Articles
[姚辰]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[席浩洋]'s Articles
[王挺]'s Articles
[姚辰]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于电机驱动的仿生柔性机械手研究.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.