通用梯形包装盒柔性抓持机械手结构

工业生产中为了满足抓取（如巧克力，饼干）梯形的礼品包装盒的需要，文中提出一种绳牵引驱动的串联双铰链 柔性梯形包装盒机械手，设计了适合抓取不同梯度与宽度的梯形礼品包装盒的机械手爪结构，该结构能实现自适应抓 取，并且介绍了该手爪结构的驱动原理，通过全局优化的方式得出两组重要扭弹簧的刚度系数与预紧角，计算结果表明， 在设定的最大压力下，该手爪能够满足对约1.3 N重的梯形包装盒任意位置的抓取。

Structure Analysis of Universal Trapezoidal Package Flexible Grasping Manipulator

ln order to meet the crawl needs ( such as chocolate. biscuits) trapezoid gift package in the industrial production, a rope traction drive tandem double hinge flexible manipulator trapezoidal package was proposed. The grab and width of the trapezoidal different gradients gift mechanical gripper structure of the package was designed, This structure could realize grasping with adaption. and introduced driving principle of the gripper structure. and also was drawn by two important torsion spring stiffness coefficient global optimization approach angle and pretension. The results show that under the maximum pressure setting the heavy gripper is able to meet l.3 N trapezoidal package at any position .