第 卷 第 期大 连 交 通 大 学 学 报Vol.1 No.12JOURNAL OF DALIAN JIAOTONG UNIVERSITY2024 年 12月Feb. 2024文章编号：工业机器人的末端执行器结构分析综述姜楚峰,潘传奇,马野,王磊,张芝虎（大连交通大学 机械工程学院，辽宁大连 116028）摘 要：工业机器人的末端执行器(夹持器机构)是机器人操作机与工件、工具等直接接触并进行作业的装置，是机器人的关键部件之一.末端执行器是直接执行工作的装置，它对扩大机器人的作业功能、应用范围和提高工作效率都有很大的影响，因此对机器人的各种末端执行器结构分析讨论有着非常重要的意义.抓取不同特征的物件需要有着不同类型的结构和驱动源..本文就末端执行器的常用结构，根据不同类型的结构特性分类来进行分析各种夹持机构的特点和适用范围.关键词：末端执行器，夹持器，结构分析，结构特性分类中图分类号： 文献标识码：AReview of End-effectors Structure of industrial robot AnalysisJiang Chu feng，Pan Chuan-qi，Ma Ye，Wang Lei，Zhang Zhi-hu(College of Mechanical Engineering, Dalian Jiaotong University, Dalian 116028, China) Abstract: End-effector (the clamping device) of the industrial robot is the robot manipulator is in direct contact with the workpiece, the tool and operating the apparatus, is one of the key components of the robot. End-effector is a direct implementation of the device, it expand miracle job functions, application range and improve work efficiency has a significant impact, and a variety of robot end effector structure analysis of the research has a very important significance. Crawling different characteristics of the object need to have different types of structures and the driving source. In this paper, the common structure of End-effector according to the classification of different types of structure characteristics to carry out analysis of various characteristics of the clamping mechanism and scope.Key words: End-effector; griper; structure analysis; structure characteristics classi...
