基于变胞原理的纱管抓取刚柔结合机械手结构设计OA

To address the issues of poor adaptability of rigid manipulators in grasping yarn tubes and the instability of flexible manipulators,a hybrid rigid-flexible manipulator was designed based on the variable-cell principle.First,the overall structure of the manipulator was designed based on the variable-cell principle,achieving configuration changes through the separation and merging of finger joints.Second,the kinematic analysis of the manipulator's variable-cell mechanism was con-ducted,and the forward and inverse kinematic models of the manipulator were established using the D-H parameter method.Finally,a prototype was fabricated and experimentally validated.The results show that the hybrid rigid-flexible manipulator designed in this study maintains finger contact with the grasped object during the grasping process,achieving success rates of 90.00%,93.33%,and 86.67%for step-shaped yarn tubes,cylindrical yarn tubes,and pagoda tubes,respec-tively.The high success rate in grasping yarn tubes sheds new insights into yarn tube grasping.