Abstract: To grasp the target parts of diverse shapes and adjust the grip force of manipulator in the industrial field,a compound-driven two finger compliant gripper with force perception was designed.Based on the principle of human finger joint grasping with two fingers,the grasping characteristics of irregular object contour were analyzed,and a compound driven two finger compliant gripper structure was proposed.According to the driving characteristics of the compliant gripping hand and the control requirements of the gripping force,the hybrid driving mode of the combination of air cylinder and stepping motor was adopted,and the feedback of the gripping hand force sensor was combined to realize the envelope fitting and grasping of the irregular shape target parts.The prototype of the designed home-made compound-driven two finger compliant gripper was carried out and verified by force sensing grasping.The adjustment range of the angle of the root joint of the gripping hand was -15°~15°,and the test error of the gripping hand force sensor was about 5%.The gripping hand structure provided reliable technical support for accurately gripping target parts with diverse shapes,and also provided theoretical reference for the design of the multi-finger gripping hand mechanism and the research on gripping force perception.

Key words: two fingers, compliant gripper, indexable finger root, gripping force control

摘要： 针对机械手抓取形状多样化的目标件和调整夹持力大小的问题,设计了一种具有力感知的复合驱动双指柔顺夹持手。首先基于人手指关节双指贴合抓取原理,分析不规则目标件外形轮廓抓取特征,提出一种复合驱动的双指柔顺夹持手结构;其次根据柔顺夹持手驱动特点和夹取力的控制要求,采用气缸与步进电机相结合的混合驱动方式,并结合夹持手力传感器反馈,实现对不规则形状目标件的包络贴合抓取;最后对所设计的复合驱动双指夹持手进行了样机研制和力感知柔性抓取验证,测试结果实现夹持手指根节角度调整范围为-15°~15°,夹持手接触力传感器测试误差5%左右。该夹持手结构为精准夹取形状多样性的目标件提供了可靠的技术支撑,也为多指夹持手机构设计和夹持力感知研究提供了理论借鉴。

关键词: 双指, 柔顺夹持手, 指根可转位, 夹取力控制