一種用於平行氣動夾爪可調定夾持力機構之設計

Abstract

可調定力機構(Adjustable Constant Force Mechanism, ACFM)可以在有效輸入位移範圍內，產生幾乎不變的恆定輸出力，並且可調整恆定輸出力的大小。本研究將可調定力機構應用於氣動夾爪上，使夾爪能夠調整夾力夾取各類型物件，並且所產生的恆定夾持力不受物體大小的影響，讓夾持力調整更簡單。首先，本研究提出由無段變速器和動力發條組合而成的可調定力機構，此組合具有恆定力範圍長及可調力範圍廣的優點。另外，本研究為動力發條設計預負載機構，讓發條可以預先轉動到恆定扭矩區間。接著根據設計需求設計傳動機構，然後和可調定力機構整合成夾持力調整機構，緊接著建立夾持力調整機構的理論模型，最後製造原型進行測試實驗。

An adjustable constant force mechanism (ACFM) is a mechanism that can generate a near-constant output force over the effective input displacement range as well as adjust the value of the constant output force. In this study, an adjustable constant force mechanism is developed to apply to a pneumatic gripper, so that the gripper can adjust the gripping force to grip various types of objects. Moreover, the adjustable constant gripping force is independent of object size, which makes the adjustment of the gripping force easier. For the development, we first propose an adjustable constant force mechanism which combines a continuously variable transmission and a power spring. This combination has a long constant force region and a wide adjustable force range. We also design a preload mechanism for the power spring, making the power spring can be preloaded to the constant torque region. Then, the transmission mechanism is added according to the design requirements and then integrated with the adjustable constant force mechanism to form an adjustable gripping force mechanism. Next, establish the theoretical model of the adjustable gripping force mechanism. Finally, a prototype is built up to validate the function of the proposed mechanism.