Design of Flexible Constant Force Manipulator based on Metamorphic Mechanism Transform

Chen Xiaodong Deng Zilong Gao Xingjun Hu Siya

doi:10.16578/j.issn.1004.2539.2019.12.016

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Design of Flexible Constant Force Manipulator based on Metamorphic Mechanism Transform

Design· Calculation | 更新时间：2022-10-25

- Design of Flexible Constant Force Manipulator based on Metamorphic Mechanism Transform
- Journal of Mechanical Transmission Vol. 43, Issue 12, Pages: 89-92(2019)
- 作者机构：
  
  1.辽宁石油化工大学机械工程学院，辽宁抚顺 113001
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2019.12.016
  CLC：
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陈晓东,邓子龙,高兴军等.基于变胞变换的柔性恒力机械手设计[J].机械传动,2019,43(12):89-92.

Chen Xiaodong Deng Zilong Gao Xingjun Hu Siya.Design of Flexible Constant Force Manipulator based on Metamorphic Mechanism Transform[J].Journal of Mechanical Transmission,2019,43(12):89-92.
陈晓东,邓子龙,高兴军等.基于变胞变换的柔性恒力机械手设计[J].机械传动,2019,43(12):89-92. DOI： 10.16578/j.issn.1004.2539.2019.12.016.

Chen Xiaodong Deng Zilong Gao Xingjun Hu Siya.Design of Flexible Constant Force Manipulator based on Metamorphic Mechanism Transform[J].Journal of Mechanical Transmission,2019,43(12):89-92. DOI： 10.16578/j.issn.1004.2539.2019.12.016.

摘要

柔性机构发生弹性变形会储存和释放能量，当储存的能量和释放的能量近似相等时，可以实现恒力。结合柔性变胞原理与恒力机构的共同优点，设计了一种柔性变胞恒力机械手。首先，介绍装置结构设计，根据尺寸关系进行建模；其次，根据几何关系对装置进行运动分析；最后，根据虚功原理，计算出理论输出力，通过粒子群算法找出恒力范围。该装置无需安装力传感器，无需控制系统即可实现机械手的恒力夹持且具有自适性，适用于细胞、芯片、玻璃等薄壁、易破碎物品的夹持。在生物医学、生产生活、科学应用领域中有着较好的应用前景。

Abstract

Flexible mechanism can store and release energy by elastic deformation. Constant force can be achieved when the stored energy and released energy are approximately equal. Considering the common advantages of flexible metamorphic principle and constant force mechanism, a flexible metamorphic constant force manipulator is designed. Firstly, the structure design of the device is introduced, and the model is built according to the size relationship. Secondly, the motion of the device is analyzed according to the geometric relationship. Finally, the theoretical output force is calculated according to the principle of virtual work, and the constant force range is found by particle swarm optimization. The device does not need to install force sensors, and does not need a control system to achieve constant force clamping of the manipulator and has self-adaptability. It is suitable for clamping thin-walled and fragile articles such as cells, chips, glass and so on. It has good application prospects in biomedicine, production, life and scientific applications.

关键词

机械手柔性变胞原理恒力设计运动分析

Keywords

ManipulatorFlexible metamorphic principleConstant forceDesignMotion analysis

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