摘 要
机器人抓取技术作为智能制造领域的重要组成部分，近年来随着工业自动化和人工智能的快速发展而备受关注。本研究以机电一体化为核心理念，探讨了机器人抓取系统的优化设计与性能提升方法，旨在解决传统抓取技术中存在的精度不足、适应性差以及能耗较高等问题。研究通过融合先进的传感器技术、控制算法和机械结构设计，提出了一种基于多模态感知的自适应抓取策略，该策略能够实时调整抓取力度和姿态，显著提高了机器人在复杂环境下的操作灵活性和稳定性。同时，本文设计了一种轻量化且高刚性的机械手结构，并结合能量回收机制，有效降低了系统运行能耗。实验结果表明，所提出的机电一体化方案能够在多种材质和形状的物体抓取任务中实现更高的成功率和效率，相较于传统方法，其能耗降低约30%，抓取精度提升超过20%。此外，本研究还开发了一套集成化的仿真与测试平台，为后续的算法验证和系统优化提供了有力支持。总体而言，本研究不仅为机器人抓取技术的发展提供了新的思路，还在实际应用层面展现了显著的工程价值，为未来智能化制造系统的构建奠定了坚实基础。关键词：机器人抓取技术；机电一体化；多模态感知；自适应抓取；能耗优化
Abstract
Robot grasping technology, as a critical component of the intelligent manufacturing field, has garnered significant attention in recent years due to the rapid development of industrial automation and artificial intelligence. This study, grounded in the core concept of mechatronics, investigates the optimized design and performance enhancement methods for robot grasping systems, aiming to address issues such as insufficient accuracy, poor adaptability, and high energy consumption present in traditional grasping technologies. By integrating advanced sensor technology, control algorithms, and mechanical structure design, this research proposes a multimodal perception-based adaptive grasping strategy that can dynamically adjust grasping force and posture in real time, thereby significantly improving operational flexibility and stability in complex environments. Additionally, a lightweight yet highly rigid robotic hand structure was designed, combined with an energy recovery mechanism, effectively reducing system operational energy consumption. Experimental results demonstrate that the proposed mechatronic solution achieves higher success rates and efficiency in grasping tasks involving ob jects of various materials and shapes, with energy consumption reduced by approximately 30% and grasping accuracy improved by over 20% compared to conventional methods. Furthermore, this study develops an integrated simulation and testing platform, providing substantial support for subsequent algorithm validation and system optimization. Overall, this research not only offers new perspectives for the development of robot grasping technology but also exhibits significant engineering value in practical applications, laying a solid foundation for the construction of future intelligent manufacturing systems..
Key Words：Robot Grasping Technology；Mechatronics；Multimodal Perception；Adaptive Grasping；Energy Consumption Optimization
目 录
摘 要 I
Abstract II
第1章 绪论 1
1.1 机器人抓取技术的研究背景 1
1.2 机电一体化在抓取技术中的意义 1
1.3 国内外研究现状分析 2
1.4 本文研究方法与创新点 2
第2章 抓取系统的机械设计与优化 3
2.1 机械臂结构设计原理 3
2.2 抓取机构的运动学分析 3
2.3 材料选择与强度优化 4
2.4 精度控制与误差补偿 4
2.5 设计案例分析 5
第3章 控制系统与传感器融合技术 6
3.1 控制系统架构设计 6
3.2 传感器数据采集与处理 6
3.3 视觉引导与定位精度提升 7
3.4 力反馈控制技术应用 7
3.5 实时性与稳定性保障 8
第4章 抓取任务中的算法与仿真验证 9
4.1 抓取路径规划算法研究 9
4.2 动态环境下的适应性算法 9
4.3 机电系统协同控制算法 10
4.4 仿真平台搭建与测试 10
4.5 实验结果与性能评估 11
结 论 11
参考文献 13
致 谢 14
