【摘要】 目的　设计一种装配机器人用夹持器库， 其功能如同加工中心的刀具库； 使机器人在抓拿不同零件时可迅速准确地从“库”中自动更换夹持器； 降低对夹持器本身的适应性要求， 扩大机器人的应用范围，缩短辅助时间， 降低机器人的成本． 方法　根据不同类型的机器人对夹持器的需求， 分别建立相应类型的夹持器库以及从库中更换夹持器的方法． 结果　建立了三种类型的夹持器库和三种夹持器的存取方法． 结论夹持器库的使用， 对扩大机器人手爪的应用范围， 提高装配机器人的装配效率， 降低机器人的成本起重要作用． 夹持器库的设计经济、实用， 具有现实意义．更多还原

【Abstract】 Aim\ The gripper library used by assembling robot to be designed. Its function is similar to that of the cutting tool library of process center. Assembling robot can rapidly and precisely change tool gripper from the library. The purpose is to reduce the adaptation reguirement of gripper itself enlarge of usage scope robot, shorten the assitant time, and reduce the robot cost. Methods\ In accordance with different requirements of different types of assembling robot on grippers, set up the relevant the library, design the method about changing gripper from the library. Results\ Having set up three kinds of gripper library and three kinds of method about changing gripper from the library. Conclusion\ By use of the gripper library, it is important to enlarge robot hand utilization scope, raise the efficiency of assembling robot and reduce the robot cost. The design on gripper library is economical, practical and meaningful.更多还原