基于双滚筒式六爪机械手的结构设计与优化分析OA

Aiming at the common engineering problems of existing mechanical grippers in grasping cylindrical,easy-rolling and special-shaped workpieces,such as clamping instability,poor adaptive capacity and high workpiece damage rate,a six-jaw mechanical gripper based on double roller lead screw drive is proposed.In terms of structural design,coaxial symmetric drive of double lead screws is adopted,and a compact linear execution chain is composed of"roller-bearing-belt transmission".Two servo motors are symmetrically arranged and directly connected to the lead screws through rigid couplings to reduce intermediate transmission links.The transmission module realizes a low-friction and high-rigidity support and transmission path through the cooperative matching of lead screws,rollers and angular contact ball bearings.The working end adopts a"3+3"symmetric six-jaw annular layout,and the end is designed with composite curved surfaces and flat surfaces to adapt to circular,square and special-shaped workpieces;the jaws are connected to the main body through spherical plain bearings,and flexible gaskets are embedded at the jaw tips to achieve passive compliance and multi-point fitting.With force-closed envelope grasping and automatic centering as the core features,the mechanical gripper balances stable clamping and workpiece surface protection,and is suitable for multi-scenario applications such as precision assembly,logistics sorting and flexible manufacturing.