张凡;管声启;

• 1:西安工程大学机电工程学院

摘要(Abstract)：

为实现混色纱线拼接过程中多尺寸纱筒的柔性抓取及落纱任务,提出一种仿生学自适应性机械手设计优化方法。首先,分析落纱过程人体手指的抓取姿态,以此建立仿生学机械手多指节结构模型。在此基础上,以多尺寸短向量标准建立三维粒子群模型,以MatLab对机械手结构参数进行抓取优化。最后,在有限元软件中进行虚拟样机装配及动力学仿真对比验证。实验结果表明:设计的新型机械手可平稳实现30～80mm多尺寸柔性自动落纱。

关键词(KeyWords)： 自动落纱机械手;粒子群模型;参数优化;绳轮驱动;柔性抓取

Abstract:

Keywords:

基金项目(Foundation): 陕西省重点研发计划项目(2018GY-020)

作者(Author): 张凡;管声启;

Email:

DOI: 10.19333/j.mfkj.20200502306

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