面向强力抓取的1:1比例仿人四指灵巧手研究

发布时间：2018-05-03 05:18

  本文选题：强力抓取 + 仿人四指灵巧手　； 参考：《哈尔滨工业大学》2017年硕士论文

【摘要】：灵巧手抓取较重的对象,特别是以包络的方式进行抓取时,手指各指节与物体的接触信息不明确,并且抓取同一物体时不同的抓取点所需的抓取力也不相同。灵巧手自由度越多、机构越复杂,刚度就会越差,承载能力就越弱。因此对于灵巧手的研究大多关注其操作的灵巧性,而没有进行强力抓取的研究,因此没有考虑其承载能力的问题。本课题是面向强力抓取的仿人四指灵巧手设计与分析,考虑其抓取能力,将驱动电机集成在手臂上,驱动电机尺寸不受到手指或者手掌尺寸的限制,大大增加了灵巧手的驱动能力。在驱动能力满足的前提下,考虑灵巧手手指的结构,手指基关节采用两个电机驱动锥齿轮以差动的形式实现俯仰和侧偏两个自由度,在运动与人手相似的同时可以提供2倍的抓取力。手指中端关节和末端关节参照人手运动特点,将其设计为“∞”字钢丝耦合机构,实现1:1精确传动。设计关节力矩传感器检测关节力矩,再结合关节位置传感器,可以得到手指的接触力信息。对灵巧手进行运动学分析和动力学分析,为后续灵巧手的抓取仿真奠定理论基础,在ADAMS中给定手指各关节运动角度,进行单手指动力学仿真,与动力学推导进行对比。再对灵巧手抓取5kg圆柱进行静力学分析,抓取方式为包络,用优化算法得到稳定抓取时手指的关节转角,指节与圆柱的接触点和接触力信息,再根据力矩平衡得到各关节的驱动力矩,根据计算所得的驱动力矩,选择合适的驱动电机。在ADAMS中给灵巧手各关节施加驱动力矩,进行强力抓取仿真,灵巧手可以稳定抓取物体证明所选电机的合理性,基于力/位混合控制进行ADAMSSIMULINK联合抓取仿真,得到稳定抓取时各个关节的转角、接触点位置和接触力信息。根据联合仿真得到的接触信息,施加到有限元模型,利用有限元软件分析灵巧手抓取5kg物体时,满足强度和刚度要求,在此基础上,在满足电机驱动能力的前提下,得到灵巧手最大可抓取7.5kg的物体。对灵巧手进行模态分析和谐响应分析,得到灵巧手的固有频率,据此选择灵巧手的最佳工作频率。
[Abstract]:When a skillful hand grabs a heavy object, especially in the way of envelop, the contact information between each knuckle and object is not clear, and the grasping force required for different grab points of the same object is also different. The greater the degree of freedom, the more complex the mechanism, the worse the stiffness and the weaker the bearing capacity. Therefore, most of the researches on dexterous hand focus on the dexterity of its operation, but not on the study of strong grabbing, so it does not consider the bearing capacity of dexterous hand. This subject is the design and analysis of humanoid four-finger dexterous hand which is oriented to strong grasp. Considering its grasping ability, the driving motor is integrated on the arm, and the size of the driving motor is not limited by the size of finger or palm. Greatly increases the dexterous hand drive ability. Considering the structure of the dexterous finger, the base joint of the finger is driven by two motors to drive the bevel gear in the form of differential motion to achieve two degrees of freedom of pitch and sideslip. The movement is similar to that of the hand and can provide twice as much grip. Referring to the characteristics of manual movement, the middle end joint of finger and the end joint are designed as "鈭，

本文编号：1837145