合肥工业大学校徽

合肥工业大学学报自科版

合肥工业大学学报(自然科学版)

JOURNAL OF HEFEI UNIVERSITY OF TECHNOLOGY (NATURAL SCIENCE)

主管：中华人民共和国教育部

主办：合肥工业大学

ISSN 1003-5060, CN 34-1083/N

基于四棱柱折叠单元的机械手设计及运动特性分析

Design and kinematic characteristics analysis of manipulator based on quadrangular prism folding unit

期刊信息

合肥工业大学（自然科学版），2025年5月，第48卷第5期：577-582，597

DOI: 10.3969/j.issn.1003-5060.2025.05.001

作者信息

朱立红，谈家忞，仲佳骏，曹宇，赵亮程，张东

（合肥工业大学机械工程学院，安徽合肥230009）

摘要和关键词

摘要: 在制衣行业中存在裁片尺码跨度大、通用机械手设计难的问题。为了解决制衣过程中抓取不同尺码裁片的要求，文章基于可展结构提出一种4-RRR四棱柱折叠单元，得出其单自由度可展的普适性理论；利用4-RRR四棱柱折叠单元设计相应的机械手机构，并进行运动特性分析，运用D-H参数法建立运动学方程，得出该机构的运动学解；将机械手机构模型导入ADAMS进行仿真，验证理论的可靠性，求解机械手的折展比；最后进行实物折展实验。研究表明，由4-RRR四棱柱折叠单元设计出的机械手可以满足目标需求，并具有较大的折展比。

关键词: 可展开机构；四棱柱单元；折展机械手；单自由度；运动学

Authors

ZHU Lihong, TAN Jiamin, ZHONG Jiajun, CAO Yu, ZHAO Liangcheng, ZHANG Dong

(School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China)

Abstract and Keywords

Abstract: In the garment industry, there are difficulties in designing a universal manipulator due to the large size span of the pieces. In order to address the requirement of grabbing pieces of different sizes during the garment production process, a 4-RRR quadrangular prism folding unit model is proposed based on the expandable mechanism, and its universal theory of single-degree-of-freedom expandability is explored. The corresponding manipulator mechanism is designed by adopting the 4-RRR quadrangular prism folding unit, and the kinematic characteristics analysis is carried out. Using the D-H parameter method, the kinematic equation is established and the kinematic solution of the mechanism is obtained. Through the ADAMS simulation of the manipulator mechanism, the reliability of the mathematical model is verified, and the folding ratio of the manipulator is also solved. Finally, the physical folding experiment was carried out. The results show that the manipulator designed by the 4-RRR quadrangular prism folding unit can meet the target requirements and has a large folding ratio.

Keywords: expandable mechanism; quadrangular prism unit; folding manipulator; single degree of freedom; kinematics

基金信息

国家自然科学基金资助项目（52205014）

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