【摘要】 变胞机构与常见的定自由度机构相比,具有特殊的性能。阐述一种以气体为驱动力的自适应变胞机械手,该机械手简化为两个手指,以一个气缸驱动,每个手指有两个转动关节,在每个手指夹持部位衬以硅胶并贴以力传感器,控制气缸压力,致使夹持力可在一定设定范围内进行调整,是一种具有一定柔性的执行器。该执行器将变胞机构的工作原理和气体柔性驱动技术相结合,是一种基于六构件变胞机构的气动自适应柔性抓取机械手。阐述了该机械手的机构结构原理,并对该机械手进行了运动分析。该机械手在果蔬采摘,人体推拿执行器中具有广阔的应用前景。更多还原

【Abstract】 Compared with the common fixed degree of freedom mechanism,the metamorphic mechanism has special properties.One kind of self-adaption six-constructional element metamorphic master manipulator driven by gas is presented.This manipulator is simplified and has only two fingers driven by a cylinder.Each finger has two revolute joints.This manipulator is a flexible actuator.In order to control the cylinder pressure,the part of finger which would be used to hold object is lined with silica gel and force sensor,so that the force could be adjusted in a certain range.This actuator combining the working principle of metamorphic mechanism with the technology of the gas-flexible-drive,is one kind of pneumatic self-adaption flexible master manipulator based on six-constructional element metamorphic mechanisms.The structure principle of the master manipulator is described,and its movement is analyzed.The manipulator will be widely used in harvesting fruits and vegetables,the human massage actuator.更多还原