设计一种低成本的欠驱动手指,用于定位或捏捏薄物体

Jinchang Fan, Can-jun Yang, Qian Bi, H. Gu
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引用次数: 0

摘要

在工业中,由于成本和简单性的考虑,机器人抓取器通常具有较低的自由度。然而,薄的物体(例如手机外壳,IC芯片的屏蔽)不能用传统的抓手手指处理,因为可能会造成变形。为了解决这一问题,本文提出了一种具有特殊四杆机构和柔性关节的低成本欠驱动手指。设计了特殊的四杆机构,以获得理想的指尖运动轨迹,即准水平线,而柔性关节减少了冲击力,实现了柔顺力控制。介绍了四杆机构和柔性关节的设计方法,并对其运动性能进行了分析。通过实验验证了设计和分析的正确性。结果表明,所提出的两自由度欠驱动手指可以应用于机械手抓取或定位薄物体。最后,简要说明了其应用的一个例子,以加强概念。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design of a low-cost underactuated finger for positioning or pinching thin objects
Robotic grippers in industry are expected to have low degrees of freedom (DOFs) with cost and simplicity concerns. However, thin objects (e.g. mobile phone covers, shielding of IC chips) cannot be handled by traditional gripper fingers, since deformation may be caused. To solve this problem, a low-cost underactuated finger with a special four-bar linkage and a flexible joint is proposed in this paper. The special four-bar linkage is designed to obtain the desirable motion trail of the fingertip which is a quasi-horizontal line, while the flexible joints reduce the impact force and achieve compliant force control. In this paper, the design methodology of the four-bar linkage and the flexible joint is introduced, while the kinematic performance is analyzed. An experiment was conducted to verify the design and analysis. Results show that the proposed two DOFs underactuated finger can be applied on a robotic gripper to pinch or position thin objects. Finally, an example for its application is briefly explained to reinforce the concept.
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