机器人多指手可变腕掌设计

发布时间：2018-01-06 23:24

本文关键词：机器人多指手可变腕掌设计　出处：《机械传动》2017年11期 　论文类型：期刊论文

【摘要】：目前,对于大小、形状各异的物体,机器人多指手的抓取规划和控制问题尚未得到完善的解决。总结现有各类机器人手掌,发现一些新型手掌结构可以提高机器人多指手的灵巧性和工作空间,且结构和控制相对简单。基于此,分析了章鱼腕的运动机理,提出了广义腕掌结构,可构型出任意大小和形状的多边形,并依此结构设计了一种12自由度的仿生机器人四指手。为了简化结构和控制,设计了一种5自由度的新型手掌结构,命名为可变腕掌。对于不同大小和形状的物体,可变腕掌能够自适应改变手掌构型,将手指变位到最佳的接触点位置,大幅提高了机器人多指手的灵巧度和工作空间。构型分析表明,对于大小、形状各异的物体,可变腕掌能够简单快速地实现自适应构型,既提高了机器人多指手的抓取质量,又降低了抓取规划和控制的难度。
[Abstract]:At present, for objects of different sizes and shapes, the problem of grab planning and control of robot multi-fingered hand is not yet well solved. It is found that some new hand structures can improve the dexterity and workspace of robot multi-fingered hand, and the structure and control are relatively simple. Based on this, the motion mechanism of octopus wrist is analyzed, and the generalized carpal palm structure is proposed. The polygon of arbitrary size and shape can be constructed, and a 12-degree-of-freedom four-fingered robot is designed according to this structure. In order to simplify the structure and control, a new five-degree-of-freedom palm structure is designed. For objects of different sizes and shapes, the variable palmar can adaptively change the configuration of the palm and shift the finger to the best contact position. The dexterity and workspace of robot multi-fingered hand are greatly improved. Configuration analysis shows that variable wrist palm can easily and quickly realize adaptive configuration for objects of different sizes and shapes. It not only improves the grasp quality of robot multi-fingered hand, but also reduces the difficulty of grasping planning and control.
【作者单位】：江南大学机械工程学院;江苏省食品先进制造装备技术重点实验室;
【基金】：国家自然科学基金(51575236)
【分类号】：TP242
【正文快照】： 0引言机器人多指手,是机器人系统的一个重要组成部分,其研究目的是实现对各种物体的灵巧抓取和精准操控。近40年来,学者们已研制出许多机器人多指手,但到目前为止,它们大多仍处于实验室研究阶段,只能完成特定的抓取和操控任务[1-3]。其中一个重要的原因是手掌的结构限制了机器

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