CAJ | 학술논문

为了使机械手灵巧、稳妥地抓取物体,设计了一种新型结构的单电机驱动4指12关节机械手爪.该手爪由电机驱动一根十字连杆,其端部分别连接4个手指的第1动力连杆;每个于指有3个指节,由2个平行四边形的指节结构确保手指末端做平移运动;每个手指的第2动力连杆具有延伸滑槽,当第2动力连杆运动时,经过特别设计的滑槽在固定支点滑动,可使手指末端匀速运动.该新型的单电机驱动手爪设计方案实现了机械手控制简单、抓握可靠的目的.
위료사궤계수령교、은타지조취물체,설계료일충신형결구적단전궤구동4지12관절궤계수조.해수조유전궤구동일근십자련간,기단부분별련접4개수지적제1동력련간;매개우지유3개지절,유2개평행사변형적지절결구학보수지말단주평이운동;매개수지적제2동력련간구유연신활조,당제2동력련간운동시,경과특별설계적활조재고정지점활동,가사수지말단균속운동.해신형적단전궤구동수조설계방안실현료궤계수공제간단、조악가고적목적.
In order to grasp objects dexterously and stably by robot, this paper proposes a new structure for four-fingered and twelve-joint gripper based on single motor driving. The motor drives a cross-linkage, whose terminal connects the first power rod of each finger. Every finger has three joints, and two knuckles each with a parallelogram structure ensure the translational motion of fingertip. The second power rod of each finger has a prolonged chute, and the specially designed chute shifts around a fixed fulcrum to realize the fingertip uniform motion while the second power rod moves. The new design scheme of the single motor driven gripper is of simple control and solid grasp.