论文标题
六杆抓地力机制的合成用于空中抓握机制
Synthesis of a Six-Bar Gripper Mechanism for Aerial Grasping
论文作者
论文摘要
在本文中，已经合成了1多道抓手机制，用于机理的类型，链接和关节的数量以及链路的长度，宽度和厚度的尺寸。类型合成是通过从Reuleaux的六类机制中选择适当的机制来完成的。数字合成是通过使用代数方法完成的。使用几何编程方法找到了链接的尺寸。然后，将夹具建模在计算机辅助设计软件中，然后使用增材制造技术制造。最后，将带有直流电动机作为执行器的握把机构安装在无人机（UAV）上，以抓住在太空中移动的球形物体。这项工作与Mohamed Bin Zayed International Robotics Challenge（MBZIRC）-2020的挑战1中的任务有关。
In this paper, a 1-DoF gripper mechanism has been synthesized for the type of mechanism, number of links and joints, and the dimensions of length, width and thickness of links. The type synthesis is done by selecting the proper class of mechanism from Reuleaux's six classes of mechanisms. The number synthesis is done by using an algebraic method. The dimensions of the linkages are found using the geometric programming method. The gripper is then modeled in a computer aided design software and then fabricated using an additive manufacturing technique. Finally the gripper mechanism with DC motor as an actuator is mounted on an Unmanned Aerial Vehicle (UAV) to grip a spherical object moving in space. This work is related to a task in challenge 1 of Mohamed Bin Zayed International Robotics Challenge (MBZIRC)-2020.
