一种欠驱动手指机构的分析、设计与仿真研究

发布时间：2018-04-21 23:25

本文选题：欠驱动手指机构 + 等效机构　；参考：《中央民族大学》2017年硕士论文

【摘要】：灵巧手是机器人的重要组成部分。欠驱动机构由于驱动器数目少于自由度,相比于全驱动手指机构,具有控制简单、体积小、重量轻、成本低等优点,还可以使手指机构自适应地抓取物体,这种形状自适应性使得手指机构在不使用专门的控制系统或传感器的情况下能够抓取形状不规则的或未知形状的物体。因此欠驱动机构是现在和未来机器人手领域重要的研究方向。一般来说,在设计具有较大抓持力的欠驱动机器人手指时,使用连杆机构是非常必要的。连杆式的欠驱动机器人手指机构可以实现较大的抓持力,结构紧凑、控制简单。但目前连杆式欠驱动手指的设计理论研究还很缺乏,很多都还是凭直觉、仿生或根据计算机仿真结果对设计进行试凑调整等方法来进行。本文对提出的一种新型的全转动关节连杆式欠驱动机器人手指机构进行了分析、设计与仿真研究。具体研究内容如下:1.基于最小阻尼原理推导欠驱动手指机构等效机构,并应用于一种全转动关节连杆式欠驱动手指机构(参见图2-2),完成该机构各种抓持状态下的等效机构的推导。2.基于推导得到的各阶段等效机构,完成全转动关节连杆式欠驱动手指机构的运动学方程推导,并给出所有运动方程的求解方法。在此基础上完成该机构可达空间(手指机构最大行程决定的手指运动的最大空间)的分析和求解。3.基于推导得到的各阶段等效机构,逐步完成手指机构尺寸设计。并在给定外形尺寸的前提下,完成图2-2所示全转动关节连杆式欠驱动手指机构的尺寸设计。4.基于所设计的全转动关节连杆式欠驱动手指机构,完成其对不同形状和大小物体的抓持运动过程仿真,及抓持中各指节作用力的仿真。
[Abstract]:Dexterous hands are an important part of robots. The underactuating mechanism has the advantages of simple control, small volume, light weight and low cost, compared with the full-drive finger mechanism, because the number of actuators is less than the degree of freedom, and it can also make the finger mechanism grasp objects adaptively. This shape adaptivity enables finger mechanisms to grab irregular or unknown objects without using a special control system or sensor. Therefore, underactuated mechanism is an important research direction in the field of robot hand now and in the future. In general, it is necessary to use the linkage mechanism in the design of underactuated robot fingers with large grip force. The linkage-type underactuated robot finger mechanism can achieve large gripping force, compact structure and simple control. However, the research on the design theory of the connecting rod underactuated finger is still lacking, many of which are carried out by intuition, bionics or adjustment of the design according to the results of computer simulation. This paper analyses, designs and simulates a new kind of finger mechanism of fully rotating joint linkage type underactuated robot. The specific contents of the study are as follows: 1. Based on the principle of minimum damping, the equivalent mechanism of underactuated finger mechanism is derived and applied to a fully rotating joint linkage type under-actuated finger mechanism (see Fig. 2-2) to complete the derivation of equivalent mechanism in various grasping states of the mechanism. Based on the equivalent mechanism of each stage, the kinematics equation of the fully rotating joint linkage type underactuated finger mechanism is derived, and the solving methods of all the motion equations are given. On this basis, the reachable space of the mechanism (the maximum space of finger motion determined by the maximum stroke of the finger mechanism) is analyzed and solved. Based on the equivalent mechanism of each stage, the dimension design of finger mechanism is completed step by step. On the premise of the given shape size, the dimension design of the fully rotating joint linkage type underactuated finger mechanism shown in figure 2-2 is completed. Based on the design of the fully rotating joint linkage underactuated finger mechanism, the gripping process of different shapes and sizes of the finger mechanism and the simulation of the forces acting on the knuckles in the grip are completed.
【学位授予单位】：中央民族大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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