基于变胞变换的柔性恒力机械手设计

晓东 陈; 子龙 邓; 兴军 高; 思雅 胡

doi:10.16578/j.issn.1004.2539.2019.12.016

您当前的位置：

首页 >

文章列表页 >

基于变胞变换的柔性恒力机械手设计

设计计算 | 更新时间：2022-10-25

- 基于变胞变换的柔性恒力机械手设计
- Design of Flexible Constant Force Manipulator based on Metamorphic Mechanism Transform
- 机械传动 2019年43卷第12期页码：89-92
- 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：
  
  陈晓东（1993— ），男，河北承德人，在读硕士研究生，研究方向为机械现代设计理论与方法。
  邓子龙（1967— ），男，辽宁葫芦岛人，教授，硕士生导师，研究方向为机械现代设计理论与方法，机电液一体化。
- 基金信息：
  
  辽宁省教育厅项目(L2017LQN024)
- DOI：10.16578/j.issn.1004.2539.2019.12.016
  中图分类号：
扫描看全文
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

references

高峰.机构学研究现状与发展趋势的思考[J].机械工程学报，2005（8）:3-17.

NAH S K，ZHONG Z W.A microgripper using piezoelectric actuation for micro-object manipulation[J].Sensors and Actuators A:Physical，2007，133（1）:218-224.

INOUE K，TANIKAWA T，ARAI T.Micro-manipulation system with a two-fingered micro-hand and its potential application in bioscience[J].Journal of biotechnology，2008，133（2）:219-224.

ZUBIR M N M，SHIRINZADEH B，TIAN Y.Development of a novel flexure-based microgripper for high precision micro-object manipulation[J].Sensors and Actuators A:Physical，2009，150（2）:257-266.

KOO B W，HONG S P，KIM S I，et al.Design and application of a novel in situ nano-manipulation stage for transmission electron microscopy[J].Microscopy and Microanalysis，2015，21（2）:298-306.

DAI J S，DING X L，ZOU H J.Fundamentals and categorization of metamorphic mechanisms[J].Chinese Journal of Mechanical Engineering，2005，41（6）:1-7.

DAI J S，JONES J R.Mobility in metamorphic mechanisms of foldable/erectable kinds[J].Journal of Mechanical Design，1999，121（3）:375-382.

张赢斌.拓扑优化法设计柔顺恒力机构[D].西安:西安电子科技大学，2014:33-41.

MIDHA A，MURPHY M D，HOWELL L L.Compliant constant-force mechanism and devices formed therewith:US5649454[P]. 1997-07-22.

杨克昌.余弦定理在四边形的一个推广[J].数学通报，2004（7）:13-38.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

暂无数据