工业机器人气动夹持装置的系统综述

IF 1.3 4区 工程技术 Q3 TRANSPORTATION SCIENCE & TECHNOLOGY
Roman Mykhailyshyn, V. Savkiv, P. Maruschak, Jing Xiao
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引用次数: 6

摘要

在文献综述的基础上,分析了工业机器人抓取装置(GDs)的分类方法,并论证了气动抓取装置(PGDs)系统化的必要性。作者提出了一种已知的被控物体的分类方法,其中被控物体的保持力是在气体动力效应的作用下形成的。提出了具有所有PGD亚型共同特征的PGD的一般分类:PGD型;联系类型;对象基类型;对象中心类型;专门化类型;工作范围;额外设备的可用性;抓手的数量;控制类型;机器人的附件类型。分析了一般PGD分类中影响PGD特性的各个特征,并给出了应用实例。还考虑了一般PGD分类中包含的每个特征的优点。对于更详细的分类,PGDs分为以下几种类型:真空GDs (VGDs),射流GDs (JGDs),组合式PGDs (CPGDs)。VGD的主要特点是:真空产生方式、效果/致动器、步进式喷嘴、吸盘型、吸料型。jgd的主要特征包括使用压缩空气射流、喷嘴元件的形状、喷嘴元件的数量、气流方向、MO表面类型。CPGD的主要特征包括组合类型和所执行的功能。给出了每种分类的主要特征,并描述了最典型的GDs代表的优点/缺点。作者指出了生产过程自动化、医学、军事和空间技术等方面现阶段GDs的主要发展方向。基于文献数据的分析和系统化,作者定义了即将积极发展的主要有前途的研究领域:抓手设计的优化、柔性抓手、制造抓手时的增材制造(3d打印)、协作抓手、模块化抓手、通用抓手、基于新材料的抓手、抓手的新效果、仿生和医疗抓手、抓手过程的模拟和渲染。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A SYSTEMATIC REVIEW ON PNEUMATIC GRIPPING DEVICES FOR INDUSTRIAL ROBOTS
Based on the literature review, the article presents the analysis of approaches to classifying Gripping Devices (GDs) of Industrial Robots (IRs) and substantiates the need for systematising Pneumatic GDs (PGDs). The authors propose a classification of well-known PGDs, in which the holding force of the Manipulated Object (MO) is formed under the action of gas-dynamic effects. A general classification of PGDs with features common to all PGD subtypes is proposed: PGD type; contact type; object base type; object centring type; specialisation type; working range; availability of additional devices; the number of grippers; type of control; type of attachment to the robot. Each feature of the general PGD classification, which affects PGD characteristics, is analysed, and a usage example is given. The advantages of each feature included in the general PGD classification are also considered. For a more detailed classification, PGDs are divided into the following types: Vacuum GDs (VGDs), Jet GDs (JGDs), Combined PGDs (CPGDs). For VGD, the main distinguishing features are highlighted, which are the vacuum creation method, effect/actuator, stepwise nozzle, suction cup type, suction material type. The main distinguishing features of JGDs include using a jet of compressed air, the shape of nozzle elements, the number of nozzle elements, the direction of gas flows, type of surface of the MO. The main distinguishing features of CPGD include the type of combination and function performed. The main features are given for each classification, and the advantages/disadvantages of the most typical representatives of GDs are described. The authors identify the main development directions for GDs at the present stage of robotisation of production processes, medicine, military and space technology, etc. Based on the analysis and systematisation of literature data, the authors define the main promising areas of research that will be actively developed soon: optimisation of grippers’ design, flexible grippers, additive manufacturing (3D-printing) when creating grippers, collaborative grippers, modular grippers, universal grippers, grippers based on new materials, new effects in grippers, bionic and medical grippers, simulation and rendering of the gripping process.
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来源期刊
Transport
Transport Engineering-Mechanical Engineering
CiteScore
3.40
自引率
5.90%
发文量
19
审稿时长
4 months
期刊介绍: At present, transport is one of the key branches playing a crucial role in the development of economy. Reliable and properly organized transport services are required for a professional performance of industry, construction and agriculture. The public mood and efficiency of work also largely depend on the valuable functions of a carefully chosen transport system. A steady increase in transportation is accompanied by growing demands for a higher quality of transport services and optimum efficiency of transport performance. Currently, joint efforts taken by the transport experts and governing institutions of the country are required to develop and enhance the performance of the national transport system conducting theoretical and empirical research. TRANSPORT is an international peer-reviewed journal covering main aspects of transport and providing a source of information for the engineer and the applied scientist. The journal TRANSPORT publishes articles in the fields of: transport policy; fundamentals of the transport system; technology for carrying passengers and freight using road, railway, inland waterways, sea and air transport; technology for multimodal transportation and logistics; loading technology; roads, railways; airports, ports, transport terminals; traffic safety and environment protection; design, manufacture and exploitation of motor vehicles; pipeline transport; transport energetics; fuels, lubricants and maintenance materials; teamwork of customs and transport; transport information technologies; transport economics and management; transport standards; transport educology and history, etc.
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