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首页> 外文会议>AMD-vol.257; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition; 20061105-10; Chicago,IL(US) >GRIPPING EFFICIENCY OF GRIPPING MECHANISM USING BUCKLING PHENOMENON OF LONG COLUMN
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GRIPPING EFFICIENCY OF GRIPPING MECHANISM USING BUCKLING PHENOMENON OF LONG COLUMN

机译：长柱屈曲现象的夹紧机理的夹紧效率

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摘要

In the development of miniature opening and closing mechanism, piezoelectric element has been used as its actuator. This mechanism, however, tends to become larger and complicated as it needs a mechanism for displacement enlargement because of the infinitesimal output displacement. Therefore, an attempt applying buckling phenomenon of long column to the opening and closing mechanism of finger has been made. An elastic member with a long strip shape was bent in the shape of M character, both ends fixed and reciprocating translational drive was imparted to the V-shaped common portion at the center. As a result, a simple miniature gripper with large rate of bending displacement at the finger tip to a translational displacement at the center, namely the enlargement rate of the displacement, has been developed. In this study, in addition to the element technology development for product, such improvements as increasing of the rate of gripping force to driving tensile force on the finger, that is, gripping efficiency were aimed. The results obtained are as follows. (1) Hinge joints on supporting portions at both ends or the mid common portion of the fingers decrease the driving tensile force beginning to grip. They, however, little contribute to the improvement of the gripping efficiency. (2) Crossing an operating member at the center in the shape of X character so as to enlarge an angle of the operating members to the finger increases the gripping efficiency. The enlargement rate of the displacement, however, decreases, so that the angle should be decided based on the object. (3) Free support of an intermediate portion on a lateral surface of the finger allows the change of the gripping efficiency. When bending deformation outside at the center in length of the finger is restrained, the gripping efficiency increases by about 2 times.
机译：在微型开闭机构的发展中，压电元件已经被用作其致动器。然而，由于无穷小的输出位移，该机构趋向于变得更大和复杂，因为它需要用于位移增大的机构。因此，已经尝试将长柱的屈曲现象应用于手指的打开和闭合机构。将长条形的弹性构件弯曲成M字形，将其两端固定，并将往复平移驱动赋予中央的V形共同部分。结果，已经开发了一种简单的微型抓取器，该抓取器具有在指尖的较大弯曲位移至在中心的平移位移的比率，即位移的扩大比率。在这项研究中，除了开发产品的元件技术外，还针对提高抓握力对手指上驱动拉力的比率（即抓握效率）进行了改进。得到的结果如下。 （1）在手指的两端或中部共同部分的支撑部分上的铰链接头减小了开始抓握的驱动张力。然而，它们几乎没有对抓握效率的提高做出贡献。 （2）以X字形在中心处横切操作构件以增大操作构件与手指的角度可提高抓握效率。但是，位移的增大率减小，因此应基于对象确定角度。 （3）中间部分在手指的侧面上的自由支撑允许抓握效率的改变。当抑制手指的长度中心处的向外弯曲变形时，抓握效率提高约2倍。

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