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| 柔性微抓取器的机构分析及设计优化 | |
| 引用本文： | 钱嘉俊,殷跃红,王化明,朱剑英. 柔性微抓取器的机构分析及设计优化[J]. 上海交通大学学报, 2007, 41(9): 1470-1474 |
| 作者姓名： | 钱嘉俊 殷跃红 王化明 朱剑英 |
| 作者单位： | 上海交通大学,机器人研究所,上海,200240;南京航空航天大学,机电学院,南京,210016 |
| 基金项目： | 国家自然科学基金;国家高技术研究发展计划(863计划) |
| 摘 要： | 以实现对微小零件的装配为目标,通过对运用单轴柔性铰链位移放大机构的柔性微抓取器进行理论和有限元分析,指出柔性铰链的缺陷.在改进设计中提出并利用柔性梁替代柔性铰链作为抓取器的运动副.通过理论、有限元对改进后的柔性微抓取器进行分析,并通过实验证明了该抓取器的可行性. |
| 关 键 词： | 柔性微抓取器 柔性铰链 柔性梁 有限元方法 |
| 文章编号： | 1006-2467（2007）09-1470-05 |
| 修稿时间： | 2006-09-04 |
The Analysis of Compliant Micro-gripper and Optimization Design |
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| QIAN Jia-jun,YIN Yue-hong,WANG Hua-ming,ZHU Jian-ying. The Analysis of Compliant Micro-gripper and Optimization Design[J]. Journal of Shanghai Jiaotong University, 2007, 41(9): 1470-1474 | |
| Authors: | QIAN Jia-jun YIN Yue-hong WANG Hua-ming ZHU Jian-ying |
| Affiliation: | 1. Robot Inst. , Shanghai Jiaotong Univ. , Shanghai 200240, China; 2. School of Mechatronics, Nanjing Univ. of Aeronautics and Astronautics, Nanjing 210016, China |
| Abstract: | For the assembly of micro-parts,this paper analyzed a flexure micro-gripper through calculation and finite element method in which a displacement amplifier with flexure hinges in single axis is used,and pointed out the flaw of flexure hinges.In the improvement,instead of flexure hinges,flexure beams are adopted as the kinematical pairs of the gripper.Through the calculation,finite element method and experiment,the improved compliant micro-gripper was analyzed,and proved to be practicable. |
| Keywords: | compliant micro-gripper flexure hinge flexure beam finite element method |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |