用于装配的轻量高速高力夹持器
Lightweight High-Speed and High-Force Gripper for Assembly
AI总结：
本文提出一种轻量高速高力工业夹持器，通过急回机构、无级变速机构和自定心功能实现快速抓取与重物装配，并验证了其性能。
摘要：
本文提出了一种新型工业机器人夹持器，具有高抓取速度（最大：1396 mm/s）、高末端力（最大：80 N）、大运动范围和轻量化设计（0.3 kg）。为实现这些特性，夹持器中安装了急回机构的高速段和负载敏感型无级变速机构。该夹持器还配备了自定心功能。高抓取速度和自定心功能改善了机器人操作中的循环时间。此外，高末端力有利于稳定抓取和装配重物。而且，该夹持器的设计降低了夹持器在机械臂有效载荷中所占的比例，从而增加了可抓取物体的重量。通过运动学和静力学分析以及实验评估验证了夹持器性能。本文还对所开发夹持器的自定心功能进行了分析。
英文摘要：
This paper presents a novel industrial robotic gripper with a high grasping speed (maximum: 1396 mm/s), high tip force (maximum: 80 N) for grasping, large motion range, and lightweight design (0.3 kg). To realize these features, the high-speed section of the quick-return mechanism and load-sensitive continuously variable transmission mechanism are installed in the gripper. The gripper is also equipped with a self-centering function. The high grasping speed and self-centering function improve the cycle time in robotic operations. In addition, the high tip force is advantageous for stably grasping and assembling heavy objects. Moreover, the design of the gripper reduce the gripper's proportion of the manipulator's payload, thus increasing the weight of the object that can be grasped. The gripper performance was validated through kinematic and static analyses as well as experimental evaluations. This paper also presents the analysis of the self-centering function of the developed gripper.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
