自动穿鞋带机的机械夹爪多目标优化设计

为满足灵活穿鞋带过程中无空间干涉及较大的拉扯力需求，夹鞋带的机械夹爪需刚度足够且结构尽可能小巧， 为此，文中用有限元分析软件ANSYS Workbench对夹爪和连接件进行了静力分析，获取了夹爪和连接件的受力和变形情 况。为尽可能避免机械手与鞋面、夹具之间的干涉，运用优化模块Design Exploration，对夹爪和连接件进行了多目标优 化，在夹爪与连接件满足许用应力和最大位移变形的要求下，缩小了夹爪和连接件的结构尺寸。机械手静力分析表明： 机械手满足许用应力和最大位移变形的要求。

Multi-Objective Optimization Design of Mechanical Gripper of Auto-Lacing Machine

To meet the requirements of flexible wearing shoelaces with no space interference and larger pulling force , the structure of mechanical grip of shoelaces should be as small as possible with enough stiffness, therefore, this paper adopted finite element analysis software ANSYS Workbench to analyze gripper statics and obtain the force and deformation situation of the gripper and connecting piece. As much as possible to avoid manipulator interference with fixture and vamp, adopted the optimization module Design Exploration to do multi-objective optimization design of gripper and connecting piece. In the case of the allowable stress and the maXimum displacement deformation. the structure dimensions of gripper and connecting piece were reduced. Statics analysis of manipulator shows that: it can meet the requirements of allowable stress and maximum displacement deformation.