Optimization design method of a clamping jaw structure

Abstract

The application relates to an optimal design method of a clamping jaw structure and belongs to the technical field of robots, solving the problems of insufficient envelope contact and limited stable clamping range of existing two-finger clamping jaws when the two-finger clamping jaws are used to clamp cylindrical objects. The application comprises the following steps: determining size information and angle information of the active arm according to the structure of the clamping jaw; determining a to-be-optimized structure parameter vector according to the size information and the angle information of the active arm; respectively constructing a target optimization function and a first constraint condition group according to the to-be-optimized structure parameter vector; performing optimal solution on the target optimization function according to the first constraint condition group to obtain an optimal solution; and the optimal solution comprises target size and target angle of the active arm. The application realizes the improvement of the clamping performance on the cylindrical object and solves the inherent defects of insufficient effective clamping force of the traditional direct connection type clamping jaw.

Description

Technical Field

[0001] This invention relates to the field of embodied intelligent robot technology, and in particular to an optimized design method for a gripper structure. Background Technology

[0002] Two-finger grippers are a common type of gripping mechanism in robot end effectors, widely used for grasping, handling, and assembling cylindrical workpieces, block workpieces, and other regular parts. To improve the compactness and environmental adaptability of the overall gripper structure, existing technologies have developed two-finger gripper structures where the rotation fulcrum of the gripper's active arm is located in the base portion, and a transmission mechanism is used to achieve drive output.

[0003] However, in this type of two-finger gripper, the configuration and structural parameters of the connecting support between the gripper's transmission mechanism and the gripping end directly affect the motion trajectory of the gripping end and its gripping force performance. Especially when gripping cylindrical objects, problems such as insufficient envelope contact support and inadequate gripping stability are prone to occur. Therefore, it is necessary to rationally design the connecting support in the two-finger gripper and optimize its structural parameters to improve the gripper's gripping stability on cylindrical objects. Summary of the Invention

[0004] Based on the above analysis, the embodiments of the present invention aim to provide an optimized design method for a gripper structure, which can enhance the envelope contact support of the gripper on the cylindrical object, thereby improving the gripping stability of the cylinder. The present invention is achieved through the following technical solution: An optimized design method for a gripper structure, wherein the gripper has an active arm for providing support for the gripped object, the active arm employing a bent structure, and the method includes the following steps: Based on the structure of the gripper, determine the size and angle information of the active arm; Based on the size and angle information of the active arm, determine the vector of structural parameters to be optimized; Based on the structural parameter vector to be optimized, construct the objective optimization function and the first set of constraints respectively; Based on the first set of constraints, the objective optimization function is optimized to obtain the optimal solution; the optimal solution includes the target size and target angle of the active arm.

[0005] Furthermore, the active arm includes a first segment and a second segment, the included angle between the first segment and the second segment being... The length of the first segment is The length of the second segment is The structural parameter vector to be optimized is: .

[0006] Furthermore, the active arm includes a first segment and a second segment, the included angle between the first segment and the second segment being... The length of the first segment is The length of the second segment is The first set of constraints includes an equivalent length comparison constraint, which is: ;in, This represents the equivalent length between the first endpoint of the first segment and the second endpoint of the second segment.

[0007] Furthermore, the active arms are symmetrically arranged; The step of determining the size and angle information of the active arm based on the structure of the gripper includes: Based on the structure of the gripper, a parameterized mathematical model is established; Based on the parametric mathematical model, the size and angle information of the active arm are determined; The step of establishing a parameterized mathematical model based on the structure of the gripper includes: The axis of symmetry of the active arms is taken as the y-axis; the rotation fulcrums of the two active arms are A1 and A2 respectively, the line connecting A1 and A2 is taken as the x-axis, the line connecting A1 and A2 forms line segment A1A2, and the midpoint of line segment A1A2 is taken as the origin to establish a coordinate system.

[0008] Furthermore, the gripper also includes a transmission compartment, the first constraint condition group includes encapsulation constraints, and the active arm includes a first segment and a second segment, the length of the first segment being... The encapsulation constraints are:

[0009] in, This is the preset allowable operating angle range for the grippers. Let H be the angle between the first segment of the active arm and the x-axis, and let H be the distance between one side of the transmission cabin and the rotation fulcrum of the active arm.

[0010] Furthermore, the first set of constraints includes a contact point position constraint, wherein the contact point between the active arm and the clamped cylindrical workpiece is located on the second segment of the active arm.

[0011] Furthermore, the objective optimization function includes a maximum stable grasping term, which is:

[0012] in, As the first weighting coefficient, The preset normalized reference radius, The maximum value among the set of radii of the clamped cylindrical workpieces that satisfies a preset condition is the existence of... The encapsulation constraints are satisfied.

[0013] Furthermore, the gripper also includes a drive mechanism and a transmission mechanism, wherein the drive mechanism moves the gripper via the transmission mechanism; the objective optimization function further includes a minimum force transmission term, wherein the minimum force transmission term is... ,in, , This represents the preset minimum radius of the cylindrical workpiece to be clamped. This represents the preset maximum radius of the cylindrical workpiece. Let be the vector of structural parameters to be optimized. The second weighting coefficient; The force transmission coefficient is used to characterize the ability of the gripper structure to convert the input torque of the drive mechanism into a clamping normal force.

[0014] Furthermore, the objective optimization function also includes a maximum lift coefficient term, which is: , , This is the third weighting coefficient. This represents the preset minimum radius of the cylindrical workpiece to be clamped. This represents the preset maximum radius of the cylindrical workpiece. Let be the vector of structural parameters to be optimized. It represents the ratio between the vertical component and the horizontal component of the contact normal force, which is the normal force under the condition that the active arm is in contact with the cylindrical workpiece.

[0015] Furthermore, the gripper also includes a drive mechanism and a transmission mechanism, the drive mechanism causing the gripper to move via the transmission mechanism; the objective optimization function also includes a minimum force transmission term and a maximum lifting coefficient term; the objective optimization function is:

[0016] in, It is the term of minimum force transmission. , This represents the preset minimum radius of the cylindrical workpiece. This represents the preset maximum radius of the cylindrical workpiece. The second weighting coefficient; The force transmission coefficient is used to characterize the ability to convert the input torque of the drive mechanism into an actual clamping normal force. It is the maximum lift coefficient term. , It represents the ratio between the vertical component and the horizontal component of the contact normal force, which is the normal force under the condition that the active arm is in contact with the cylindrical workpiece.

[0017] Compared with the prior art, the present invention can achieve at least the following beneficial effects: Compared to the traditional direct-connection solution, this invention improves the active arm from a direct-connection gripper to a bent structure without changing the relative positions of the two ends of the active arm. This allows part of the active arm to participate in the gripping of cylindrical objects as a working contact section, thereby forming a composite contact and envelope support structure together with the claw tip plate, which improves the gripping stability of cylindrical objects. On the other hand, by establishing an objective optimization function and constraints based on the size and angle information of the gripper's active arm, and optimizing the objective optimization function, the optimal parameter combination of the active arm can be solved through algorithm iteration, thereby enhancing the gripper's envelope contact support performance for the cylindrical object and further improving the gripping stability of the cylinder.

[0018] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0019] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. Figure 1 A flowchart illustrating the optimized design method of the gripper structure provided by the present invention; Figure 2 This is a schematic diagram of the gripper structure provided by the present invention; Figure 3 A schematic diagram of the gripper provided by the present invention in the state of gripping a cylinder; Figure 4 This is a geometric model diagram of the gripper provided by the present invention in the state of gripping a cylinder.

[0020] Figure label: 1-Drive mechanism; 2-Transmission mechanism; 3-Driving arm; 31-First section; 32-Second section; 4-Driven arm; 5-Claw tip plate; 6-Master-slave connecting rod; 7-Transmission chamber; 8-Sealing ring; 9-Cylinder. Detailed Implementation

[0021] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0022] A specific embodiment of the present invention, such as Figure 1 As shown, an optimized design method for a gripper structure is disclosed. Figure 2 As shown, the gripper includes a drive mechanism 1, a transmission mechanism 2, an active arm 3, a driven arm 4, a claw tip plate 5, a master-slave connecting rod 6, and a transmission chamber 7. The drive mechanism 1 drives the gripper and can be a drive motor. A sealing ring 8 is provided between the drive mechanism 1 and the transmission chamber 7. The sealing ring 8 is used to seal the connection position on the drive mechanism side. The transmission mechanism 2 is connected to the output end of the drive mechanism 1. The transmission mechanism 2 passes through the transmission chamber 7 and is connected to the active arm 3. The active arm 3 is rotatably mounted on the transmission mechanism 2. The master-slave connecting rod 6 is rotatably connected to both the active arm 3 and the driven arm 4. The claw tip plate 5 is connected to the master-slave connecting rod 6. The claw tip plate 5 is used to contact and grip the target object. When the gripped object is a cylinder 9, part of the active arm 3 contacts and supports the outer peripheral wall of the cylinder 9. The transmission chamber 7 is located between the gripped object and the drive mechanism 1.

[0023] During the operation of the gripper, the drive mechanism 1 drives the left and right active arms 3 to move synchronously through the transmission mechanism 2. The active arms 3 drive the driven arms 4 and the claw tip plates 5 to move through the master-slave connecting rod 6, so that the claw tip plates 5 on both sides move closer to each other and contact the cylinder 9. Because the active arms 3 adopt a bent structure, during the gripping process, the arm body of the active arms 3 can form working contact or auxiliary support with the cylinder 9, so that the active arms 3 not only undertake the transmission function, but also participate in the gripping process, which helps to improve the gripping stability of the cylinder 9.

[0024] In this embodiment, two pairs of active arms 3 are provided, with two arms in each pair, and the two active arms 3 in each pair are symmetrically arranged. In traditional two-finger grippers, the active arms 3 usually mainly undertake the function of motion transmission, and rarely directly participate in the envelope support of the target object. In this embodiment, the active arms 3 are set as a bent structure, and in the pair of active arms 3, either active arm 3 is bent away from the other active arm 3. This can achieve multi-angle contact support, prevent the object from rolling or shifting during the gripping process, and enhance the gripping stability.

[0025] Therefore, in this embodiment, as Figure 3As shown, both the active arm 3 and the claw tip plate 5 make contact with and support the object being held, forming a composite contact and enveloping support structure. Compared with the traditional two-finger gripper where the active arm 3 usually mainly undertakes the transmission function and rarely directly participates in the enveloping support of the target object, this embodiment transforms the active arm 3 from a simple transmission component into a working contact component that participates in the gripping, thus improving the gripping stability of the gripper on the cylinder 9.

[0026] like Figure 1 As shown, the optimized design method for the above-mentioned gripper structure includes the following steps: S110, based on the structure of the gripper, determine the size and angle information of the active arm 3; S120, Based on the size and angle information of the active arm 3, determine the vector of structural parameters to be optimized; S130, construct the objective optimization function and the first set of constraints based on the structural parameter vector to be optimized; S140, based on the first set of constraints, the objective optimization function is optimized to obtain the optimal solution; the optimal solution includes the target size and target angle of the active arm 3.

[0027] This embodiment establishes a parameterized mathematical model, an objective optimization function, and constraints. The objective optimization function is then optimized, and the optimal parameter combination is solved through algorithm iteration. The solved parameters are the size and angle information of the active arm 3, which improves the clamping performance of cylindrical objects and solves the inherent defect of insufficient effective clamping force of traditional direct-connection grippers.

[0028] In this embodiment, step S110 specifically includes: Based on the structure of the gripper, a parametric mathematical model is established. Furthermore, based on the parametric mathematical model, the dimensions and angles of the active arm 3 are determined.

[0029] The specific implementation plan for establishing the parameterized mathematical model is as follows: like Figure 4 As shown, the axis of symmetry of the active arm 3 is taken as the y-axis. Let the rotation fulcrums of the two active arms 3 be A1 and A2, respectively. The line connecting A1 and A2 is taken as the x-axis, and the line connecting A1 and A2 forms line segment A1A2. A coordinate system is established with the midpoint of line segment A1A2 as the origin.

[0030] The active arm 3 includes a first segment 31 and a second segment 32, with an included angle between the first segment 31 and the second segment 32. The length of the first segment 31 is The length of the second segment 32 is The target dimensions of the aforementioned active arm 3 include the length of the first segment 31. The length of the second segment 32 The target angle of the aforementioned active arm 3 is the angle between the first segment 31 and the second segment 32. The second segment 32 of the active arm 3 makes contact with the target object being clamped, such as the cylinder 9, providing auxiliary support.

[0031] The distance between the rotation pivots of the paired left and right active arms 3 is defined as 2M. Then the coordinates of the rotation pivot A1 of the right active arm 3 can be expressed as:

[0032] Continue to refer to Figure 4 The first endpoint of the first segment 31 is The first segment 31 corresponds to line segment A1B in the established mathematical model. Let B be the intersection point of the first segment 31 and the second segment 32, and let B be the first endpoint and C be the second endpoint of the second segment 32. The second segment 32 corresponds to line segment BC in the established mathematical model. The equivalent length between the first endpoint of the first segment 31 and the second endpoint of the second segment 32 is... That is, the length of line segment A1C is .in, Figure 4 The line segment CD in the diagram represents the equivalent model of the claw tip plate 5 and the master-slave connecting rod 6.

[0033] The first segment 31 transmits the motion at the rotation fulcrum A1 of the active arm 3 to B. The second segment 32 transmits the power at point B to the claw tip plate 5 via C, which acts as the contact segment in the clamping of the cylinder 9. Compared to the traditional direct-connection solution, this embodiment introduces an adjustable bending point B without changing the relative positions of the two ends of the active arm 3. By changing the position of the bending point B, the force transmission path and end-effector posture are optimized, thereby improving the clamping stability.

[0034] In this embodiment, M must be less than half of the maximum opening and closing length of the grippers. Since the working clamping area is above the transmission chamber 7, this ensures that the working surface of the second segment BC can cover the working clamping area above the transmission chamber 7 under any circumstances, guaranteeing the certainty and stability of the gripper clamping. This is particularly suitable for clamping objects with small radii, such as cylinders 9 with a radius less than 20mm. If M is greater than half of the maximum opening and closing length of the grippers, the second segment BC may not be able to contact the cylinder 9, thus compromising clamping stability.

[0035] refer to Figure 4 In this embodiment, a parameterized mathematical model is established for the working condition of the gripper holding a workpiece with a cylindrical shape 9.

[0036] The radius of the clamped cylinder 9 is R, where: The center of the cylinder is denoted as:

[0037] in, Let be the coordinates of the cylinder's center along the y-axis. It is the minimum radius of the preset cylinder 9 determined based on the opening and closing capability of the grippers. It is the maximum radius of the preset cylinder 9 determined based on the opening and closing capability of the grippers. For example, a value of 1mm can be used. The opening and closing capability of the grippers can be characterized by the maximum distance between the gripper tip plates 5 after the grippers are opened. That is, This equals the maximum distance between the claw tip plates 5 after the grippers open. For example, if the maximum opening distance of the claw tip plates 5 is 90mm, then... The value can be 90mm.

[0038] When the target object is cylinder 9, the angle between the first segment 31 and the x-axis is... , This is also known as the operating angle, which characterizes the instantaneous rotation angle of the first segment 31 of the drive arm 3 relative to the x-axis. The angle between the second segment 32 of the drive arm 3 and the x-axis is... , To characterize the orientation angle of the second segment 32, the following exists: .

[0039] In this embodiment, the coordinates of the second endpoint B of the first segment 31 of the active arm 3 can be expressed as:

[0040] The above step S120 specifically includes: With a fixed pivot point spacing of 2M for the active arm 3, a fixed encapsulation height of H, and a fixed direct-connection equivalent support length of [missing information], Under the condition of 31, with the first segment being 31 in length The length of the second segment is 32. and included angle The main design variables, i.e., the vector of structural parameters to be optimized in this embodiment, are: The vector of structural parameters to be optimized can characterize the geometry of the gripper.

[0041] In step S130 above, based on the structural parameter vector to be optimized and the structure of the gripper, an objective optimization function and a first set of constraints are constructed respectively. The constructed first set of constraints includes one or more of the following: equivalent length comparison constraints, encapsulation constraints, contact constraints, contact point constraints within the line segment, and physically realizable constraints of structural parameters. For example, the first set of constraints includes equivalent length comparison constraints, encapsulation constraints, contact constraints, contact point constraints within the line segment, and physically realizable constraints of structural parameters.

[0042] In maintaining Under the condition that remains unchanged, the length of the first segment 31 is optimized. The length of the second segment is 32. and included angle This allows the active arm 3 to achieve a better bending shape while maintaining the same total envelope size, thereby improving clamping stability. The above equivalent length comparison constraint is: .

[0043] The above packaging constraints are:

[0044] in, The preset allowable operating angle range for the gripper is defined as follows: the lower limit of this preset allowable operating angle range can be, for example, 10°, 15°, or 20°, and the upper limit of this preset allowable operating angle range can be, for example, 60°, 70°, or 80°. H is the distance between one side of the transmission cabin 7 and the rotation fulcrum of the active arm 3. Operating angle. It needs to be within the preset allowable operating angle range of the aforementioned grippers. This ensures that the working surface of the second section BC can cover the working clamping area above the transmission compartment 7 under any circumstances, guaranteeing the certainty and stability of the gripper clamping. In particular, it can meet the stable clamping requirements of cylindrical objects 9 with small radii.

[0045] In this embodiment, the line segment containing the second segment 32 of the aforementioned active arm 3 can be represented as:

[0046]

[0047] in, The parameters are the line segment parameters along the direction of the second segment 32.

[0048] When clamping a cylindrical object with radius R, there exists a corresponding angle of travel. To ensure that the second segment 32 of the active arm 3 forms a tangential contact with the outer contour of the cylinder 9, the contact constraints that must be satisfied are as follows: That is, the center of the cylinder to the straight line where the second segment 32 is located The distance is equal to the cylinder radius R.

[0049] Let S be the contact point between the second segment 32 of the active arm 3 and the cylinder 9. T Then S T Located on the second segment 32, the distance between the aforementioned contact point and point B is:

[0050] in, Let be the coordinates of the center of cylinder 9; Let these be the coordinates of point B. In the specific calculation process, the coordinates of the center of cylinder 9 are... The difference between the coordinates of point B and point B is obtained by subtracting the x-coordinate and y-coordinate respectively. Then, the coordinates of the center of cylinder 9 need to be calculated. After subtracting the coordinates of point B, the result is converted into a row vector, which is then multiplied by the column vector mentioned above.

[0051] The above contact points are constrained within the line segment as follows:

[0052] This embodiment ensures that the contact point is always within the effective length range of the second segment 32, and achieves effective working contact through the BC segment, thereby forming an enveloping support for the cylindrical object. This solves the problem of uncontrollable contact position between the bending active arm 3 and the cylinder 9, which may lead to separation from the effective contact segment, and improves the stability of clamping.

[0053] The physical realizability constraints for the above structural parameters are as follows: Since the second segment 32 of the active arm 3 forms tangential contact with the outer contour of the cylinder 9, the direction of the contact normal force is perpendicular to the second segment 32. Let the contact normal force be... The contact normal force is the normal force under the condition that the active arm 3 and the cylindrical workpiece 9 form tangential contact. The effective horizontal clamping component of this contact normal force in the horizontal direction is: The vertical lift component of the contact normal force in the vertical direction is:

[0054] in, It demonstrates a useful horizontal clamping function for the target object. It embodies the function of vertical lifting or jacking.

[0055] To evaluate the directional force transmission performance under this contact condition, this embodiment further defines the directional efficiency as: The lift coefficient is defined as:

[0056] The larger the value, the greater the horizontal component of the contact normal force used for effective clamping. The smaller the value, the weaker the vertical upward trend. Decrease , As it increases, the angle between line segment BC and the x-axis direction... As the force decreases, the horizontal component of the contact normal force used for effective clamping increases, and the vertical lifting trend weakens. Existing technologies, due to the straight-connecting arm of segment A1C, cannot optimize clamping capability by modifying structural parameters. This embodiment solves for the optimal solution through algorithmic iteration. By combining parameters, the length parameters and included angle of the active arm 3 can be designed, improving the clamping performance on cylindrical objects and solving the inherent defect of insufficient effective clamping force of the gripper in the traditional direct-connection active arm 3.

[0057] Let the input torque of drive mechanism 1 be... The virtual displacement in the direction of the contact normal force is According to the principle of virtual work, we have: Indicates the running angle Approaching the limit value of infinitesimal.

[0058] The force transfer coefficient between the contact normal force and the input torque is: in, Reflected in the radius of the cylindrical workpiece 9 The gripper's ability to convert the input torque of the drive mechanism 1 into an actual clamping normal force. The aforementioned input torque and contact normal force can be measured by sensors.

[0059] For the target radius range It can be further defined as follows: in, It is used to characterize the minimum force transmission capability under the most unfavorable working conditions within the entire target radius range. Used to characterize the maximum upward trend within the entire target radius range.

[0060] In this embodiment, the set of cylinder radii that can be stably grasped can be defined as:

[0061] The second set of constraints may include one or more of the contact constraints, encapsulation constraints, and structural parameter physical realizability constraints. For example, the second set of constraints may include contact constraints and encapsulation constraints. The second set of constraints may also be the same as the constraints in the first set of constraints.

[0062] Based on this, this embodiment defines the maximum stable grasping radius as follows:

[0063] It is the set of cylinder radii that can be stably grasped. The maximum value in. This reflects the maximum stable gripping capability of the gripper on a cylindrical object under the current structural parameters. Therefore This indicates the maximum radius of the cylinder 9 that the gripper can stably grasp. Smaller than the above .

[0064] It should be noted that in this embodiment, all objective optimization functions are for finding the maximum value.

[0065] As one possible embodiment, the objective optimization function is:

[0066] in, It is the most stable crawling item. As the first weighting coefficient, The preset normalized reference radius, The maximum value among the set of radii of the cylindrical workpiece 9 that satisfies a preset condition. This preset condition is that there exists... The encapsulation constraints are satisfied.

[0067] in, It is the term with the least force transmission. , Let be the vector of structural parameters to be optimized. This is the second weighting coefficient.

[0068] As one possible embodiment, the objective optimization function is:

[0069] in, It is the maximum lift coefficient term. This is the third weighting coefficient. , This represents the ratio between the vertical and horizontal components of the contact normal force, which is also known as the lifting coefficient.

[0070] As one possible embodiment, the objective optimization function constructed in step S130 above can be:

[0071] in, It is the most stable crawling item. It is the term with the least force transmission. It is the maximum lifting coefficient term. , , The range of values ​​is [0,1].

[0072] On the one hand, this embodiment, through the aforementioned minimum force transmission term, enables the gripper to have the minimum force transmission coefficient within the radius range of the target cylinder. Under the same driving torque input conditions, this embodiment can obtain a more effective normal clamping force, thereby improving clamping reliability and stability.

[0073] On the other hand, for traditional direct-connection structures, when gripping cylindrical objects with a large radius, a large operating angle is often required to meet the contact requirements. This can easily cause the contact normal force to deviate from the ideal clamping direction, resulting in a decrease in the effective horizontal clamping component and an increase in the vertical lifting component. If the force corresponding to the vertical lifting component exceeds the static friction force, the cylinder is at risk of slipping or even falling off. Therefore, reducing the vertical lifting tendency can improve clamping stability. In this embodiment, the parameters of the bending active arm 3 are optimized through the aforementioned negative maximum lifting coefficient term, enabling the second segment 32 of the active arm 3 to contact the cylindrical object in a more favorable posture, thereby improving directional efficiency. This reduces the lifting coefficient, which further improves the reliability and stability of clamping.

[0074] In a preferred embodiment > > In this embodiment, the advantage of maximizing the radius range of the cylinder 9 that the gripper can stably grasp is prioritized, while ensuring sufficient gripping force transmission efficiency under adverse working conditions. Unnecessary vertical lifting components are suppressed during the gripping process, thereby avoiding the inability of the driving force to be effectively converted into gripping force due to structural bending, and avoiding excessive suppression of lifting at the expense of the main gripping performance. The optimization process prioritizes meeting the core functions, and finally obtains the structural parameters of the bending active arm 3 with both wide adaptability and good mechanical properties, solving the dual defects of insufficient effective gripping force and limited stable gripping range of traditional direct-connection grippers.

[0075] The above step S140 specifically includes: Based on the first set of constraints, the above comprehensive objective function is solved using traversal search, mesh search, constraint optimization, numerical iteration, or other numerical optimization methods to obtain the optimal solution. The optimal solution includes the target size and target angle of the active arm 3, i.e., the preferred solution. , and Parameter combinations. The above is used as an example, not a limitation. It can be 15mm. It can be 50mm. It can be 110°.

[0076] Traditional straight arms only make single-point contact at the claw tip, resulting in a narrow range of stable workpiece radii. In this embodiment, the second segment 32 of the active arm 3 can achieve adaptive contact, simultaneously accommodating both smaller and larger diameter cylinders without significantly increasing the installation boundary, thus expanding the stable gripping range. This embodiment not only proposes a specific structure for the bending active arm 3 but also establishes a parameter optimization method based on geometric contact conditions, packaging conditions, and mechanical indicators. Compared to design methods that rely on repeated trial and error based on experience, this embodiment can obtain optimal parameter combinations through methods such as traversal search, mesh search, constraint optimization, or numerical iteration, making the structural design process more repeatable and engineering implementable.

[0077] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An optimized design method for a gripper structure, characterized in that, The gripper has an active arm (3) for providing support for the gripped object. The active arm (3) has a bent structure. The method includes the following steps: Based on the structure of the gripper, determine the size and angle information of the active arm (3); Based on the size and angle information of the active arm (3), determine the vector of structural parameters to be optimized; Based on the structural parameter vector to be optimized, construct the objective optimization function and the first set of constraints respectively; Based on the first set of constraints, the objective optimization function is optimized to obtain the optimal solution; the optimal solution includes the target size and target angle of the active arm (3).

2. The optimized design method for the gripper structure according to claim 1, characterized in that, The active arm (3) includes a first segment (31) and a second segment (32), and the included angle between the first segment (31) and the second segment (32) is . The length of the first segment (31) is The length of the second segment (32) is The structural parameter vector to be optimized is: .

3. The optimized design method for the gripper structure according to claim 1, characterized in that, The active arm (3) includes a first segment (31) and a second segment (32), and the included angle between the first segment (31) and the second segment (32) is . The length of the first segment (31) is The length of the second segment (32) is The first constraint group includes an equivalent length comparison constraint, which is: ;in, This represents the equivalent length between the first endpoint of the first segment (31) and the second endpoint of the second segment (32).

4. The optimized design method for the gripper structure according to claim 1, characterized in that, The active arms (3) are symmetrically arranged; The step of determining the size and angle information of the active arm (3) based on the structure of the gripper includes: Based on the structure of the gripper, a parameterized mathematical model is established; Based on the parametric mathematical model, determine the size and angle information of the active arm (3); The step of establishing a parameterized mathematical model based on the structure of the gripper includes: The axis of symmetry of the active arm (3) is set as the y-axis; the rotation fulcrums of the two active arms (3) are A1 and A2 respectively, the line connecting A1 and A2 is the x-axis, the line connecting A1 and A2 forms line segment A1A2, and the midpoint of line segment A1A2 is used as the origin to establish a coordinate system.

5. The optimized design method for the gripper structure according to claim 4, characterized in that, The gripper also includes a transmission compartment (7), the first constraint condition group includes encapsulation constraints, and the active arm (3) includes a first segment (31) and a second segment (32), the length of the first segment (31) being... The encapsulation constraints are: in, The preset allowable operating angle range for the grippers. H is the angle between the first segment (31) of the active arm (3) and the x-axis, and H is the distance between one side of the transmission cabin (7) and the rotation fulcrum of the active arm (3).

6. The optimized design method for the gripper structure according to claim 4, characterized in that, The first set of constraints includes contact point position constraints, wherein the contact point position constraints are: the contact point between the active arm (3) and the clamped cylindrical (9) workpiece is located on the second segment (32) of the active arm (3).

7. The optimized design method for the gripper structure according to claim 5, characterized in that, The objective optimization function includes a maximum stable crawling term, which is: in, As the first weighting coefficient, The preset normalized reference radius, To satisfy the maximum value in the set of radii of the clamped cylindrical (9) workpiece that meets the preset condition, the preset condition is that there exists The encapsulation constraints are satisfied.

8. The optimized design method for the gripper structure according to claim 7, characterized in that, The gripper further includes a drive mechanism (1) and a transmission mechanism (2), wherein the drive mechanism (1) moves the gripper via the transmission mechanism (2); the objective optimization function further includes a minimum force transmission term, wherein the minimum force transmission term is ,in, , This represents the minimum radius of the pre-defined clamped cylindrical workpiece (9). This indicates the maximum radius of the pre-defined cylindrical (9) workpiece. Let be the vector of structural parameters to be optimized. The second weighting coefficient; The force transmission coefficient is used to characterize the ability of the gripper structure to convert the input torque of the drive mechanism (1) into a clamping normal force.

9. The optimized design method for the gripper structure according to claim 7, characterized in that, The objective optimization function also includes a maximum lift coefficient term, which is: , , This is the third weighting coefficient. This represents the minimum radius of the pre-defined clamped cylindrical workpiece (9). This indicates the maximum radius of the pre-defined cylindrical (9) workpiece. Let be the vector of structural parameters to be optimized. The ratio between the vertical component and the horizontal component of the contact normal force is expressed as the normal force under the condition that the active arm (3) and the cylindrical workpiece (9) are in contact.

10. The optimized design method for the gripper structure according to claim 7, characterized in that, The gripper further includes a drive mechanism (1) and a transmission mechanism (2), wherein the drive mechanism (1) causes the gripper to move through the transmission mechanism (2); the objective optimization function further includes a minimum force transmission term and a maximum lifting coefficient term; the objective optimization function is: in, It is the term of minimum force transmission. , This represents the minimum radius of the pre-defined cylindrical (9) workpiece. This indicates the maximum radius of the pre-defined cylindrical (9) workpiece. The second weighting coefficient; The force transmission coefficient is used to characterize the ability to convert the input torque of the drive mechanism (1) into an actual clamping normal force; It is the maximum lift coefficient term. , The ratio between the vertical component and the horizontal component of the contact normal force is expressed as the normal force under the condition that the active arm (3) and the cylindrical workpiece (9) are in contact.

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