新型仿生柔性腕手可变腕掌构型研究

发布时间：2018-03-07 02:39

本文选题：机器人多指手　切入点：手掌结构　出处：《江南大学》2017年硕士论文　论文类型：学位论文

【摘要】：目前,对于软、嫩、脆及形状各异的食品,机器人末端执行器仍难以实现灵巧、稳定的抓取。因此,课题组提出了“新型仿生柔性腕手”的概念,用可变形状的手掌结构来实现抓取空间大小和形状的调整,用软体手指来完成柔顺的抓取操作。通过新型手掌结构和软体手指的配合,新型仿生柔性腕手能够满足大多数食品的抓取需求,将有效解决机器人技术难以应用到食品行业的技术难题。本文旨在通过仿生学研究,设计一种新型机器人手掌结构,可根据抓取物体的大小和形状适应性改变抓取构型,以解决机器人多指手对形状各异的食品的抓取问题。同时,采用这种新型的手掌结构的机器人多指手,不仅具有较高灵巧度和工作空间,还能够实现较好的抓取质量。首先,本文分析了章鱼抓取过程的运动机理,通过将其投射到二维平面,提出了可构成任意多边形的广义腕掌结构。基于广义腕掌结构,设计了一种新型仿生机器人手掌——可变腕掌,能根据被抓取物体的大小和形状调整手掌形状,将手指变位到最佳接触点位置,从而实现较好的抓取质量。通过构型分析及计算实例,证明了可变腕掌能够快速地实现对大小、形状各异物体的适应性抓取构型。其次,根据可变腕掌的结构方案和总体设计准则,完成了可变腕掌的具体机械结构设计,包括交叉旋转机构和导向平移机构的设计。同时,完成了电机选型与多传感器配置,并分析了可变腕掌的实际工作空间,可满足大多数食品的外形尺寸要求。通过可变腕掌的构型仿真,证明其具体结构同样具有对不同大小和形状物体的适应性构型能力;并设计了一种以可变腕掌为手掌结构的新型仿生机器人多指手,完成了典型物体的抓取仿真实验。然后,建立了腕掌多指手的抓取模型,并根据力平衡方程,推导了腕掌多指手实现力封闭抓取的必要条件。基于可变腕掌的具体结构,提出了一种形状构型规划方法,包括接触点位置规划算法和基本形状确定,确定了交叉角的大小及各手指安装中心与手掌中心的基本距离。以实现较高的操作灵活度为规划目标,提出了一种大小构型规划方法,确定了各手指的安装中心与手掌中心的最佳距离。最后,通过抓取实例验证了可变腕掌构型规划的有效性。
[Abstract]:At present, for soft, tender, brittle and various shapes of food, the robot end actuator is still difficult to achieve dexterous and stable grasp. Therefore, the team put forward the concept of "new bionic flexible wrist hand". The size and shape of the grab space is adjusted with the palm structure with variable shape, and the soft finger is used to complete the smooth grasping operation. Through the cooperation of the new palm structure and the soft finger, The new bionic flexible wrist hand can meet the demand of most food grab, which will effectively solve the problem that robot technology is difficult to be applied to food industry. This paper aims to design a new robot palm structure through biomimetic research. The grasping configuration can be changed according to the size and shape of the grab object, so as to solve the problem of robot multi-fingered hand grabbing food with different shapes. At the same time, the robot multi-fingered hand with this new type of palm structure can be changed. It not only has high dexterity and workspace, but also can achieve better grasping quality. Firstly, this paper analyzes the motion mechanism of octopus grabbing process and projects it to two-dimensional plane. Based on the generalized carpal palmar structure, a new bionic robot palm-variable wrist palm is designed, which can adjust the shape of the palm according to the size and shape of the grabbed object. The finger is shifted to the best point of contact to achieve better grasping quality. Through configuration analysis and calculation examples, it is proved that the variable wrist palm can quickly realize the adaptive grasping configuration of objects of different sizes and shapes. According to the structure scheme and general design criterion of variable wrist palm, the specific mechanical structure design of variable wrist palm is completed, including the design of cross rotating mechanism and guiding translation mechanism, at the same time, the selection of motor and the configuration of multi-sensor are completed. The actual workspace of the variable wrist palm is analyzed, which can meet the requirements of the shape and size of most foods. Through the simulation of the configuration of the variable wrist palm, it is proved that its specific structure also has the adaptability to different sizes and shapes of objects. A new bionic robot multi-fingered hand with variable wrist palm structure is designed, and the simulation experiment of grab of typical object is completed. Then, the grasping model of multi-finger hand is established, and according to the equation of force balance, the grasp model of multi-finger hand is established. In this paper, the necessary conditions for force closed grasp of multi-fingered hand are derived. Based on the specific structure of variable wrist palm, a shape configuration planning method is proposed, which includes the contact point location planning algorithm and the basic shape determination. The size of the cross angle and the basic distance between the center of each finger and the center of the palm are determined. In order to achieve higher operational flexibility as the planning objective, a method of size configuration planning is proposed. The optimal distance between the center of each finger and the center of the palm is determined. Finally, the effectiveness of the configuration planning of the variable wrist palm is verified by grab examples.
【学位授予单位】：江南大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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