绳轮式欠驱动机械手设计与实验研究

发布时间：2018-03-19 06:28

本文选题：欠驱动　切入点：机械手　出处：《哈尔滨工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：人类依靠航天器实现对宇宙的探索。随着科技的发展,对空间非合作航天器的捕获工作变的越来越重要,所需的捕获装置要具有结构简单、质量轻、刚度大、抓握力大等特点。欠驱动机构使用较少的驱动源能适应多种形状的物体,满足上述要求,被越来越多的科学家关注。本文设计一种绳轮结合驱动三指节欠驱动机械手。机械手的手指使用平行四连杆机构运动的原理,实现手指对多种形状物体的自适应包络,选取合适的手指尺寸与所需的传感器类型,并建立三维模型。欠驱动机械手对物体的捕获依靠两个欠驱动手指将物体包络实现,手指的性质对抓握的影响很大。对欠驱动机械手的单个手指的属性进行分析,利用机械手内部的尺寸参数关系得到机械手指的运动学特性。利用拆分杆件法分析静力学特征,得到欠驱动机械手指各指节的输出抓握力与输入驱动力之间的关系。并分析了实际模型与理想模型的接触力与位置之间的误差及其产生原因。目标被稳定抓握的前提条件为两侧手指与物体三者共同达到平衡。欠驱动手指具有自适应性,会沿目标物体轮廓发生自适应变形,最终达到稳定姿态。目标物体通过两侧手指对其的接触抓握力互相平衡达到稳定。使用Matlab对机械手指和目标物体进行静力学分析,以抓握固定尺寸的圆形物体为例,得到该情况下空间中能实现稳定抓握的手指姿态与物体位置。研制机械手样机。完成传感器标定实验。测量电机在不同驱动速度下,欠驱动手指的转动速度,与计算值对比,验证手指的运动学特性。使用单个手指包络不同形状的物体验证自适应性与手指静力学特征。使用两根手指抓握活动物体验证稳定抓握求解答案。通过样机的实验来验证欠驱动机械手的运动学与静力学的分析正确性。
[Abstract]:With the development of science and technology, the capture of space non-cooperative spacecraft becomes more and more important. The underactuating mechanism uses less driving sources to adapt to various shapes of objects, meeting the above requirements. More and more scientists pay attention to it. In this paper, we design a three-knuckle underactuated manipulator, which uses parallel four-bar mechanism to realize the adaptive envelope of fingers to various shapes. Selecting the appropriate finger size and the required sensor type, and establishing a three-dimensional model. The acquisition of an object by an underactuated manipulator depends on two underactuated fingers to envelop the object. The character of finger has a great influence on grip. The properties of single finger of underactuated manipulator are analyzed, and the kinematics characteristics of mechanical finger are obtained by using the dimension parameter relation of manipulator, and the statics characteristic is analyzed by split bar method. The relationship between the output grip force and the input driving force of each knuckle of the underactuated mechanical finger is obtained. The error between the contact force and the position of the actual model and the ideal model is analyzed, and the cause of the target being stably grasped is analyzed. The prerequisite condition is that the fingers and objects on both sides reach a balance together. The underactuated fingers are self-adaptive. There will be adaptive deformation along the contour of the target object, and finally it will reach a stable attitude. The target body will achieve stability by balancing the contact grip force between the fingers on both sides of the target. The mechanical finger and the target object will be statically analyzed by using Matlab. Taking the fixed size circular object as an example, the finger attitude and the position of the object which can be grasped stably in the space are obtained. The prototype of the manipulator is developed, and the sensor calibration experiment is completed. The motor is measured at different driving speeds. The rotational speed of the underactuated finger, compared with the calculated value, Verification of finger kinematics. Verification of adaptability and finger statics using a single finger envelope of objects of different shapes. Use of two fingers to grasp a moving object to verify a stable grip solution. The kinematics and statics analysis of underactuated manipulator is verified by a test.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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