广东工业大学学报 ›› 2021, Vol. 38 ›› Issue (05): 52-58.doi: 10.12052/gdutxb.210005

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新型限力输出保护功能柔性夹钳的设计与参数评估

丁冰晓1, 李玄1, 路松2, 赵纪宇1   

  1. 1. 吉首大学 物理与机电工程学院，湖南 吉首 416000;
    2. 澳门大学 科技学院，中国 澳门 999078
  • 收稿日期:2021-01-12 出版日期:2021-09-10 发布日期:2021-07-13
  • 作者简介:丁冰晓(1989–)，男，讲师，博士，主要研究方向为微定位平台的设计与控制
  • 基金资助:
    湖湘高层次人才聚集工程创新人才计划资助项目(2019RS1066)；湖南省大学生创新创业训练项目（S202010531043)

Design and Parameter Evaluation of a Novel Type Flexible Gripper with Characteristic of Limited Output-force Protection

Ding Bing-xiao1, Li Xuan1, Lu Song2, Zhao Ji-yu1   

  1. 1. School of Physics and Electromechanical Engineering, Jishou University, Jishou 416000, China;
    2. Faculty of Science and Technology, University of Macau, Macau 999078, China
  • Received:2021-01-12 Online:2021-09-10 Published:2021-07-13

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摘要： 柔性夹钳因具有微/纳精密操作能力, 常应用于微操作系统中, 但因抓爪无法提供恒定输出力或恒力范围小, 容易造成操作对象的损伤或脱落。根据放大模块与常力模块串联的结构形式, 设计了一种具有常力特性的柔性夹钳。基于伪刚体法, 建立放大模块中桥式机构与杠杆机构的刚度和放大率数学模型, 通过对倾斜导向梁进行分析, 得到常力模块的力-位移关系式, 计算出恒定输出力为42.5 N, 输出范围为370 μm。最后, 结合不同柔顺梁的结构参数, 运用MATLAB仿真探究了各关键参数对常力特性的影响。研究结果可为常力柔性夹钳的构型设计和分析提供一定的理论支撑。

关键词: 柔性夹钳, 常力机构, 倾斜导向梁, 双稳态机构

Abstract: Flexible grippers are widely used in micromanipulation system due to their capability of micro/nano resolution. However, it cannot avoid damaging the grasped object for the gripper cannot provide a constant output force or the limited range constant force. To solve these issues, a flexible gripper with constant force characteristic was designed based on an amplification module and a constant force module with series- structure. Based on the pseudo-rigid body method, the stiffness and magnification ratio model of the bridge type mechanism and the lever mechanism were established. The relationship between the force and displacement of the inclined guide beam was obtained with 42.5 N constant output force and 370 μm output range. Finally, the effect of each parameter on the constant force characteristics was analyzed with MATLAB. The research results can provide some theoretical guidance for the configuration design of flexible constant force grippers.

Key words: flexible gripper, constant force mechanism, inclined guide beam, bi-stable mechanism

中图分类号: 

  • TH112
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