Research On New Flexible Grasping Manipulator

In recent years,robot technology has developed rapidly,and manipulators have gradually penetrated into people's lives.In some traditional industries,related technologies are relatively mature,and manipulators can replace human hands to complete high-intensity,heavy-duty repetitive tasks,improve work efficiency,and save human resources.The main problems of the existing manipulators are: large size,complex structure,insufficient flexibility,poor adaptability,mostly used for grasping rigid objects,and there are not many grasping methods for special brittle,soft and irregular objects.Therefore,based on the demand for manipulator in automation fields such as agriculture and light industry,it is meaningful to design a flexible grab manipulator with good flexibility,strong adaptability and high dexterity,which can meet the need of grasping special objects without damaging its surface structure.This article first proposes a scheme design method of a manipulator,and establishes a design method model of motion scheme design.According to the transformation principle of system motion function,from the perspective of design requirements,the design requirements are transformed into information describing the motion of the mechanical system.Based on the state space theory,the total function is decomposed from the perspective of motion types and motion characteristics,and then decomposed in the database.And use Visual Basic and Access database software to develop the program design program,realize the computer-aided design of the principle program design,and based on the fuzzy comprehensive evaluation method,establish the evaluation model of the above program,complete the sorting of the feasible solutions of the program design,and obtain The best design plan of flexible gripping manipulator,namely the best implementation plan of motor-driven and double-screw mechanism transmission.Subsequently,the solid structure model of the flexible gripping manipulator was constructed using Solidworks three-dimensional drawing software,and the mechanical model of the flexible sheet of its end-effector was established.For flexible sheets of different cross-sectional shapes(equivalent cross-section,parabolic,and inverted trapezoidal variable cross-section flexible sheets)Sheet)conducted bending performance analysis and determined that the best cross-section structure of the flexible sheet is an inverted trapezoid.Finally,with the maximum bending deformation at one point of the flexible sheet as the optimization objective,and the strength and geometric conditions of the flexible sheet as constraints,the optimization model of the inverted trapezoidal flexible sheet is established,and the initial design variables are determined by the Monte Carlo method.Use the fmincon function in the MATLAB optimization toolbox to solve the optimization model to obtain the optimal value of the design variables of the inverted trapezoidal flexible sheet,which provides a reliable basis for the further design of the flexible manipulator.The research in this paper shows that it is appropriate to design the manipulator scheme from the perspective of motion function transformation,and the application of fuzzy comprehensive evaluation method improves the design efficiency and scheme quality.The new flexible gripping manipulator obtained by this method has the advantages of simple structure,few driving units,good flexibility and self-adaptive ability and high gripping efficiency.Using the flexible sheet with an inverted trapezoidal structure as the end effector of the manipulator can improve the flexibility of the gripping manipulator and achieve the environmental protection goal of saving materials and labor.In the structural parameter optimization problem of the inverted trapezoidal flexible sheet,the Monte Carlo method is used to determine the initial values of the design variables,which can improve the selection quality of the initial values of the design variables of the optimization problem,reduce the number of optimization iterations,and improve the efficiency of optimization solution.