Abstract: At present, the automotive door production line often achieves the grasping and handling of doors of different vehicle models by changing different grippers. The flexibility and adaptability of the grippers are poor, and the grasping efficiency is relatively low. The article designs an adaptive pneumatic flexible gripper. A three-dimensional model is designed using SolidWorks, and the gripper material is determined through strength verification. Meanwhile, based on the KR360R2830 robotic arm, a door grasping robot platform is built, and finally the grasping posture and movement of the robotic arm gripper are determined.

Key words: car doors; flexible grippers; adaptive grabbing; stress analysis; system control platform

摘要： 当前汽车车门生产线经常通过更换不同抓手来实现不同车型车门的抓取和搬运，抓手 的柔性和适应性较差，抓取效率较低。文章设计了一种自适应气动柔性抓手，利用 SolidWorks 设计三维模型，通过强度校核确定抓手材料。同时，以 KR360R2830 机械臂为基础，搭建车 门抓取机器人平台，最终确定了机械臂抓手的抓取姿态和动作。

关键词: 汽车车门；柔性抓手；自适应抓取；应力分析；系统控制平台