基于五自由度并联机构三指混联手协调作用理论研究

发布时间：2018-06-03 00:40

本文选题：少自由度并联机构 + 多指手　；参考：《燕山大学》2014年硕士论文

【摘要】：少自由度的并联机构有着广泛的应用前景，并逐渐成为并联机构领域内的研究热点。多指手相对于常规的末端执行器来说，具有灵活性高、微小位姿易调整、抓取方式多样化，结合并联机构和多指手机构的优点对多手足并联机器人开展研究设计，并对多指手在抓取过程中的协调作用理论进行了系统的研究。本文结合研究的需要以及实际应用，确定主体构型为串并联机构。设计了基于五自由度并联机构的三指混联手机构，该机构由两部分组成：4SPS+SPR并联机构和多指手机构。在4SPS+SPR并联机构的动平台上布置3个单自由度的手指机构，对手指上参考点的位置解，并联机构和手指机构的工作空间、运动学、动力学以及三指抓取物体过程中的协调作用理论进行了系统的分析。根据并联机构的结构特点，运用矢量法建立了并联机构的位置反解模型以及手指机构的位置正解模型。4SPS+SPR是3转2移型的5自由度并联机构，，根据CAD变量几何法求解并联机构和手指机构的可达工作空间。结合手指机构和并联机构之间运动关系，建立了手指机构中参考点的运动学速度、加速度模型。动力学模型是将指尖上外载荷和各运动构件的运动规律、惯性力/矩、驱动杆件的驱动力联系起来，是力/矩和位置、速度、加速度的结合。根据虚功原理建立了基于五自由度并联机构的三指混联手机构的静力学和动力学模型。以三指抓取物体为例，建立了手指在抓取和操作物体的过程中，物体和手指机构以及4SPS+SPR并联机构之间的协调运动学模型、抓取过程中物体稳定性的判断以及手指和物体之间接触力的求解和优化。
[Abstract]:The small degree of freedom parallel mechanism has a wide application prospect, and has gradually become the research hotspot in the field of parallel mechanism. Compared with the conventional end actuators, the multi-fingered hand has the advantages of high flexibility, easy adjustment of the micro-position and pose, and diversified grasping methods. The research and design of the multi-handed parallel robot are carried out in combination with the advantages of the parallel mechanism and the multi-fingered mechanism. The coordination theory of multi-fingered hand in grabbing process is studied systematically. According to the needs of the research and the practical application, the main body configuration is determined to be series-parallel mechanism. A three-finger hybrid mechanism based on a 5-DOF parallel mechanism is designed. The mechanism is composed of two parts: a: 4SPS SPR parallel mechanism and a multi-finger mobile phone. Three single-degree-of-freedom finger mechanisms are arranged on the moving platform of the 4SPS SPR parallel mechanism. The position solutions of the reference point on the finger, the workspace of the parallel mechanism and the finger mechanism, the kinematics of the parallel mechanism and the finger mechanism are analyzed. Dynamics and coordination theory in the process of three-finger capture are systematically analyzed. According to the structural characteristics of the parallel mechanism, the position inverse solution model of the parallel mechanism and the position forward solution model of the finger mechanism. 4SPS SPR is a 5 DOF parallel mechanism with 3 turns and 2 shifts. The reachable workspace of parallel mechanism and finger mechanism is solved by CAD variable geometry method. Based on the kinematic relationship between finger mechanism and parallel mechanism, the kinematic velocity and acceleration model of reference point in finger mechanism is established. The dynamic model is the combination of force / moment, position, velocity and acceleration, which connects the external load on the finger tip with the moving law of each moving member, the inertial force / moment, and the driving force of the driving member. Based on the principle of virtual work, a statics and dynamics model of a three-finger hybrid mechanism based on a 5-DOF parallel mechanism is established. Taking the three-finger grasping object as an example, a coordinate kinematic model between the object, the finger mechanism and the 4SPS SPR parallel mechanism in the process of grasping and manipulating the object is established. The stability of the object and the solution and optimization of the contact force between the fingers and the object are discussed.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP242;TH112

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