Design of a robotic gripper for casting sorting robots with rigid–flexible coupling structures

IF 1.9 4区计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-09-13 DOI:10.1017/s0263574724001000

Cheng-jun Wang, Biao Cheng

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Abstract

In order to solve the problem of the insufficient adaptability of the current small- and medium-sized casting sorting robot gripper, we have designed a casting sorting robot bionic gripper with rigid–flexible coupling structures based on the robot topology theory. The second-order Yeoh model was used to statically model the clamping belt in the gripper to derive the relationship between the external input air pressure and the bending angle of the driving layer, and the feasibility of multiangle bending of the driving layer was verified by finite element analysis. The maximum gripping diameter of the gripper is 140 mm, and in order to test the adaptive gripping ability of the gripper, a prototype of the casting sorting robot gripper is prepared, and the pneumatic control system and human–machine interface of the gripper are designed. After several experimental analyses, the designed casting sorting robot gripper is characterized by strong adaptability and high robustness, with a maximum load capacity of 930 g and a maximum wrap angle of 296°, which can complete the gripping operation within 1 s, and the comprehensive gripping success rate reaches 96.4%. The casting sorting robot gripper designed in the paper can provide a reference for the design and optimization of various types of shaped workpiece gripping manipulators.

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为具有刚柔耦合结构的浇铸分拣机器人设计机器人抓手

为解决目前中小型铸造分拣机器人抓手适应性不足的问题，我们基于机器人拓扑理论，设计了一种具有刚柔耦合结构的铸造分拣机器人仿生抓手。采用二阶 Yeoh 模型对夹持器中的夹持带进行静态建模，推导出外部输入气压与驱动层弯曲角度之间的关系，并通过有限元分析验证了驱动层多角度弯曲的可行性。机械手的最大抓取直径为 140 毫米，为了测试机械手的自适应抓取能力，制备了铸件分拣机器人机械手的原型，并设计了机械手的气动控制系统和人机界面。经过多次实验分析，所设计的铸造分拣机器人抓手具有适应性强、鲁棒性高的特点，最大承载能力为 930 g，最大包角为 296°，可在 1 s 内完成抓取操作，综合抓取成功率达到 96.4%。本文设计的铸造分拣机械手可为各类异形工件抓取机械手的设计和优化提供参考。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotica 工程技术-机器人学

CiteScore

4.50

自引率

22.20%

发文量

181

审稿时长

9.9 months

期刊介绍： Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.