【摘要】 针对目前手爪夹持式爬管机器人存在的稳定性和适应能力不足的问题，基于欠驱动和变胞原理，设计了一种刚柔耦合变胞手爪。首先对该手爪进行了结构设计及工作原理分析；其次基于弹性力学接触理论和摩擦学原理，提出了手爪夹持稳定性的判断方法；然后提出了基于刚柔耦合迭代分析的静摩擦力计算方法，计算了真实的夹持静摩擦力，通过对比刚性和刚柔耦合状态下手爪夹持的静摩擦力大小，验证了刚柔耦合结构具有更高的夹持稳定性；最后利用Adams进行了各类管道的夹持仿真，验证了该手爪具有较好的适应性。更多还原

【Abstract】 In response to the current problems of insufficient stability and adaptability of gripping pipe climbing robots, based on the principles of underactuationand metamorphic mechanism, a rigid-flexible coupling metamorphic claw is designed. The structural design and working principle analysis of the metamorphic claw are carried out.Based on the contact theory of elastic mechanics and the principles of tribology, a method for determining the stability of the metamorphic claw is proposed. The calculation method of static friction based on rigid-flexible coupling iterative analysis is proposed. By comparing the static friction force ofthe metamorphic claw under rigid and rigid-flexible coupling states, the rigid flexible coupling structure is found to have higher clamping stability.The clamping simulation of various pipelines is conducted using Adams, and good adaptability of the clawis verified.更多还原