Design of a New Type of Underactuated Manipulator

Bin Peng; Jiang Gang; Cheng Qian

doi:10.16578/j.issn.1004.2539.2015.03.044

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Design of a New Type of Underactuated Manipulator

更新时间：2022-10-20

- Design of a New Type of Underactuated Manipulator
- Vol. 39, Issue 3, Pages: 86-89(2015)
- 作者机构：
  
  1. 西南科技大学制造科学与工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.03.044
  CLC：
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[1]宾朋,蒋刚,程乾.一种新型欠驱动机械手设计[J].机械传动,2015,39(03):86-89.

Bin Peng, Jiang Gang, Cheng Qian. Design of a New Type of Underactuated Manipulator. [J]. 39(3):86-89(2015)
[1]宾朋,蒋刚,程乾.一种新型欠驱动机械手设计[J].机械传动,2015,39(03):86-89. DOI： 10.16578/j.issn.1004.2539.2015.03.044.

Bin Peng, Jiang Gang, Cheng Qian. Design of a New Type of Underactuated Manipulator. [J]. 39(3):86-89(2015) DOI： 10.16578/j.issn.1004.2539.2015.03.044.

摘要

针对制药厂提出的药盒夹持要求,提出一种新型欠驱动机械手的设计方案。该方案机械手采用气压驱动,并巧妙利用变自由度理论与机构死点理论,利用单个动力源实现对药盒的可靠夹取与提升等动作。在此基础上,通过结构分析与受力计算,完成对机械手的性能分析,并通过实物验证。结果表明,该机械手性能稳定、夹持力大、操控简单、能够满足设计要求。

Abstract

According to the demand of clamping the medicine box proposed by the medicine factory,a new design scheme of underactuated manipulator is presented.The pneumatic drive is used in this design scheme of the manipulator,and using the theory of variable degree of freedom and dead center of mechanism,the actions of reliable clamping and lifting to medicine box are realized by using single power source.On this basis,through the structure analysis and calculation of its force,the function of manipulator is analyzed and the theoretical results are actually verified by entity model.The analysis of the manipulator shows that stability performance,large force clamping and the convenience of operation reached the the design requirements.

关键词

机械手欠驱动机构死点虚功原理

Keywords

ManipulatorUnderactuatedDead center of mechanismPrinciple of virtual work

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