复合驱动双指柔性机械手的设计与控制

吴全会,邵旭辉,潘柏松,施罗杰

Design and control of compound driven two-finger flexible manipulator

Quan-hui WU,Xu-hui SHAO,Bai-song PAN,Luo-jie SHI

表 4 机械手扭弹簧参数的设计数值与实际数值对比

Tab.4 Comparison of design value and actual value for manipulator torsion spring parameters

参数类型 k1, k2/(N·mm) d1, d2/(mm) a1, a2/(°) 设计 8.67, 3.50 1.60, 1.20 0, 0 实际 8.52, 3.56 1.58, 1.22 2.1, −3.2