研究复合材料驱动的双指柔性操纵器的抓取特性
1Mechanical Engineering, Henan College of Industry & Information Technology, Henan Jiaozuo, People's Republic of China.
Science progress
|April 1, 2024
概括
这项研究介绍了一种新的双指灵活操纵器,用于抓取各种各样的部位. 开发的系统证明了对圆柱形和立方形组件的可靠和稳定的适应性抓取.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 机械工程 机械工程
- 控制系统 控制系统
背景情况:
- 灵活的操纵器对于处理各种工业应用中的复杂物体至关重要.
- 现有的机器人抓器经常与不规则的形状或微妙的目标作斗争.
- 在机器人操纵方面,类似人类的灵巧仍然是一个重大挑战.
研究的目的:
- 提出和验证一种新的双指灵活操纵器模型.
- 为了使复杂的目标部位能够适应各种形状的适应性抓取.
- 在机器人操纵任务中增强掌握可靠性和稳定性.
主要方法:
- 开发了一种双指灵活操纵器模型,其中包括灵活的机械手指,驱动部件和位置补偿机制.
- 根据目标轮结构特征提取抓取特征.
- 封面紧过程的动态建模.
- 使用灵活的操纵平台进行实验验证.
主要成果:
- 拟议的灵活操纵器成功地证明了对圆柱形和立方形部分的适应性抓取能力.
- 该系统在不同的物体形状上实现了高水平的把握可靠性和稳定性.
- 实验平台验证了操纵器在复杂的把握场景中的有效性.
结论:
- 开发的双指灵活操纵器为适应性和稳定性抓取各种物体几何形状提供了一个有前途的解决方案.
- 该模型模仿人类手指关节运动,有助于提高灵巧度.
- 这项研究推进了灵活机器人的领域,用于复杂的操纵任务.
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