共查询到20条相似文献,搜索用时 171 毫秒
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介绍了一种机器人对料框中散堆工件计算拾取位置的方法。通过对机器人手爪和料框的建模,可以判断在拾取工件时,机器人手爪和料框壁是否存在干涉。如果干涉,那么机器人将根据搜索策略获得一个不存在干涉的拾取位置,从而提高散堆取件拾取的成功率。 相似文献
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介绍了一种基于连杆锻造自动化生产线的柔性与刚性可切换手爪,重点介绍了手爪的结构、组成、特点及应用。利用该浮动手爪实现了机器人抓住工件不松开直接对工件进行拍扁,然后再送到预锻工位,提高了生产线的工作效率。 相似文献
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结合使用工业机器人及数控车床在加工不同工件的过程中所产生的实际应用问题,提出了一种简易气动手爪夹具的设计制作思路。 相似文献
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为了满足空间机器人对不同手爪的更换要求,研制出手爪的自动更换装置.该装置基于多种传感器,对机械手臂末端的位置、姿态以及对接时的工作状态进行实时检测,使机器人获取足够的信息主动进行调整,从而保证整个更换过程的顺利进行;同时,装置结构简单、体积小、刚度好,感知能力和环境适应能力强,智能化程度高,可以根据需要使机器人自动更换需要的手爪. 相似文献
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The swirl gripper is an electrically activated noncontact handling device that uses swirling airflow to generate a lifting force. This force can be used to pick up a workpiece placed underneath the swirl gripper without any contact. It is applicable, for example, on a semiconductor wafer production line, where contact must be avoided during the handling and moving of a workpiece to minimize damage. When a workpiece levitates underneath a swirl gripper, the gap height between them is critical for safe handling. Therefore, in this study, we develop a theoretical model of the swirl gripper, based on which a method to estimate the levitation gap height by detecting pressure at two points is proposed. Experiments indicate that the estimated gap height can track changes in actual gap height accurately in real time, when the gap height is relatively small and the inertia of airflow in the gap is negligible. In addition, the force between the gripper and workpiece can also be estimated using the detected pressure. As a result, a desired relationship between the force and gap height can be achieved by adjusting the rotating speed of the fan according to the real-time estimated force and gap height using a microcontroller. The control system was experimentally verified using a desired linear relationship. Because the stiffness of the force decreases with increasing gap height for a constant gripper fan rotating speed, the linear relationship between the force and gap height, which means a constant stiffness, is expected to enhance handling stability of workpieces. 相似文献
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工件的可达/可离性反映了将工件安装到/脱离出夹具装夹布局的可能性,分析可达/可离性有助于在工件上正确选择装夹表面和装夹点。为此依据工件与装夹元件的实际接触或装配情况,利用泰勒定理提出了工件可达/可离性模型。通过将工件安装到/脱离出装夹布局的可能性等价于可达/可离性模型的解的存在性,借助任意数可表达为两个非负数之差这一数学技巧作为桥梁,将工件可达/可离性模型的解的存在性问题转化为线性规划问题,提出了工件可达/可离性的判断方法。尤其是在判断可达/可离性模型有解的情况下,继而考虑了工件安装到/脱离出装夹布局的方向性。在此基础上,进一步将可达/可离的方向性转化为可达/可离性模型的通解,由此构建了求解线性不等式方程组的Γ-算法。这个“先有解-再求解”的算法仅涉及到装夹元件在工件表面处的位置与单位法矢量信息,不仅适用于形状复杂的工件,而且避免了可达/可离性模型无解情况下依旧求解的局限性,同时也拓展和丰富了自动化夹具设计的理论基础。 相似文献
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James N. Asante 《The International Journal of Advanced Manufacturing Technology》2008,39(5-6):578-588
Contact forces between workpiece and fixture define fixture stability during clamping and influence workpiece accuracy during machining. In particular, forces acting in the contact region are important for understanding deformation of the workpiece at the contact region. This paper presents a model that combines contact elasticity with finite element methods to predict the contact load and pressure distribution at the contact region in a workpiece-fixture system. The objective is to determine how much clamp forces can be applied to generate adequate contact forces to keep the workpiece in position during machining. The model is able to predict the normal and tangential contact forces as well as the pressure distribution at each workpiece-fixture contact in the fixturing system. Model prediction is shown to be in good agreement with known industry practice on clamp force determination. The presented method has no limits on the types of materials that can be analyzed. 相似文献
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《Mechanism and Machine Theory》1987,22(5):481-487
This paper is devoted to the methods of computation and analysis of equilibrium positions of the object in the robot gripping device, assuming that the contact between the object and gripper is maintained in a finite number of points.Problems of construction of computation models which make it possible to determine the reliability of holding an object in the gripper of an industrial robot in operation are considered.To compute the gripper carrying capacity, the authors developed a procedure involving a system of seven equilibrium equations for the “object-gripper” mechanical system: when the equations are solved, the carrying capacity of the gripper can be estimated and its exhaustive characteristic plotted, which is the area of rigid fixation within the space of acting forces and moments.The results of the present study can be used when developing the robot devices, optimizing their parameters, or estimating the reliability of object holding in auxiliary transfer devices, feeders and positioners (such as spools, dispensers, special holders, etc). 相似文献
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D. T. Pham S. H. Yeo 《The International Journal of Advanced Manufacturing Technology》1985,1(1):95-120
The majority of workpieces found in industry have cylindrical shapes. The design of jaws to enable the concentric handling
of these workpieces by grippers with quasi-parallel jaw-closure is investigated. The jaws are given specially-shaped profiles
resembling the Greek letter v. The basic equations defining such profiles are given along with an analysis of the geometrical
parameters which govern the jaw dimensions. The rules for selecting the parameters to achieve compact jaw designs are enshrined
in a computer program which implements these rules. By this means, optimal jaw profiles from specifications of workpiece and
gripper dimensions can be determined. Sample computer outputs illustrate the effectiveness of the method. 相似文献
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针对传统抓取规划方法难以计算复杂轮廓物体、计算量大耗时长的弊端,以及基于深度学习的抓取规划方法物理模型简单、训练集制作耗时长的缺陷,提出了一种基于傅里叶描述子的平面物体表征及抓取规划方法。对物体进行图像采集和轮廓提取,将以散点形式表示的轮廓转化为傅里叶描述子,提取高阶项从而还原物体轮廓,构造了轮廓的参数方程。根据轮廓参数方程和接触点位置,使用不同接触模型构造抓取映射矩阵,采用凸包推进算法计算不同抓取位姿在力 力矩空间上的抓取性能指标。基于抓取性能指标,采用一种改进的粒子群方法进行抓取点规划,在二指夹持器和四指夹持器模型上进行了仿真验证。 相似文献
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