Abstract: It is difficult for the gripper to stably grip special-shaped objects with complex contours.To solve this problem and improve the adaptability and protective grasping ability of the gripper,a cable-driven rigid-flexible gripper with cable drive system and flexible hinge structure was designed.The cable path of the gripper was designed to realize the conversion between various grasping modes.On the basis of the load balance equation,the static model of the two grasping modes was carried out,the mechanical model between the input force and the output clamping force was obtained.The correctness of the mechanical model and the grasping performance of the gripper were verified through numerical simulation and physical experiments.The grasping experiments were carried out on grasped targets with different geometric shapes and different stiffness,which verified the ability of adaptive and protective for the gripper.

Key words: cable-driven gripper, rigid-flexible combined, multi-mode grasping, statics modeling

摘要： 为了解决夹持器难以稳定夹持轮廓复杂的易损异形物体的问题,以提高夹持器的自适应性和保护抓取能力,设计了一种包括绳索驱动系统和柔性铰链结构的绳牵引刚柔结合夹持器。通过设计夹持器的绳索路径实现多种抓取模式之间的相互转换。在载荷平衡方程的基础上对两种抓取模式进行静力学建模,得到输入力与输出夹持力之间的力学模型,并通过数值仿真和物理试验验证力学模型的正确性与夹持器的抓取性能。最后,分别对不同几何形状和不同刚度的抓取目标进行抓取试验,验证了夹持器自适应保护抓取的能力。

关键词: 绳牵引夹持器, 刚柔结合, 多模式抓取, 静力学建模