| 一种丝杆螺母机构型机械手的设计 |
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| 引用本文： | 张彪,叶军,鲁翔,宣冬冬.一种丝杆螺母机构型机械手的设计[J].中国西部科技,2010,9(15):31-32. |
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| 作者姓名： | 张彪 叶军 鲁翔 宣冬冬 |
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| 作者单位： | 绍兴文理学院机电系,浙江,绍兴,312000 |
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| 基金项目： | 绍兴文理学院大学生科研创新团队资助项目 |
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| 摘 要： | 文章提出一种丝杆螺母机构型机械手,它具有结构紧凑,操作灵巧,控制容易的特点。多指手仅用一个电机驱使手指的开闭操作。文中描述了机械手的结构设计与手指的运动分析与力分析,与现有的多指灵巧手和欠驱动多指杆机器人手相比,这种机械手的结构更为紧凑,且能减少控制的复杂性。
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| 关 键 词： | 机械手 丝杆螺母机构 运动分析 |
Design of a Mechanical Gripper Based on Screw-nut Mechanism |
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| ZHANG Biao,YE Jun,LU Xiang,XUAN Dong-dong.Design of a Mechanical Gripper Based on Screw-nut Mechanism[J].Science and Technology of West China,2010,9(15):31-32. |
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| Authors: | ZHANG Biao YE Jun LU Xiang XUAN Dong-dong |
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| Institution: | (Department of Mechatronics Engineering, Shaoxing College of Arts and S ciences,Shaoxing,Zhejiang 312000) |
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| Abstract: | A mechanical gripper based on screw-nut mechanism is presented in this paper.It has the characteristics of compact structure,dexterous operation,and easy control.Multiple fingers with only one electrical motor can perform open and closed operation.This paper described the structure design of mechanical gripper,kinematic analysis,and force analysis of the fingers.The mechanical gripper has more compact structure than current multi-fingered dexterous hands and underactuated hands of robot with multi-phalanges.It can reduce the control complexity. |
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| Keywords: | Mechanical gripper Screw-nut mechanism Kinematic analysis |
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