随形抓取机械手的设计及运动实现

发布时间：2018-07-12 13:32

本文选题：随形抓取 + 机械手　；参考：《兰州交通大学》2017年硕士论文

【摘要】：随着科学技术的快速发展,人们生活水平的提高,由于残疾人对假肢手康复工程的高度重视和人们急于从恶劣的工作环境中解放出来,近年来,科技工作者对机械手的研究取得一定的成果,研发出的拟人化机械手虽然能完成物体的抓取和操作,但存在通用性差、成本高、控制复杂等问题,在一定程度上限制了使用范围。基于用户需求、操作简单和低成本为设计的原则,研发一种成本低廉、控制简单、体积小、能够实现随形抓取的机械手很有必要。运用欠驱动原理,采用差动驱动机构,单一驱动电机,设计了一种结构简单、体积小、控制简单、成本低、具备随形抓取能力的拟人化机械手。该机械手能够实现各手指抓取力大小的自动控制,抓取物体时能够自动调整位姿和手指抓取力的大小。首先,通过对国内外机械手发展现状的分析研究,明确设计任务。通过驱动技术与传动机构方案应用的对比分析,确定了机械手的驱动方案与传动机构。其次,从仿生学以及解剖学的角度出发,分析了人手结构和功能特征,为随形抓取机械手的设计提供了可靠的设计参数和依据,并以此为依据,完成了随形抓取机械手的食指、中指、无名指、拇指以及手掌的详细结构设计。最后,根椐设计的随形抓取机械手的三维机构模型,利用D-H参数法建立了随形抓取机械手的运动学模型,根据已知各关节的运动参数,推导出了运动学正解方程,求出手指末端的相对参考坐标系的位姿;根据手指末端相对参考坐标系的位姿要求,推导出了机械手的逆运动学方程,求出了各个关节的运动参数;应用雅可比矩阵分析机械手速度与相应关节速度之间的关系;通过控制系统来实现关节运动所需的运动参数,进而实现机械手运动期望的位姿,为机械手的控制及实现抓取奠定了基础。
[Abstract]:With the rapid development of science and technology and the improvement of people's living standard, because the disabled attach great importance to prosthetic hand rehabilitation project and people are eager to free themselves from the harsh working environment, in recent years, Scientific and technological workers have achieved certain results in the research of manipulator. Although the developed humanoid manipulator can complete the grasping and operation of objects, it has some problems such as poor generality, high cost, complex control and so on. To a certain extent, the scope of use is limited. Based on the design principle of simple operation and low cost, it is necessary to develop a manipulator with low cost, simple control and small size. A humanoid manipulator with simple structure, small volume, simple control and low cost is designed by using the principle of underactuation, differential drive mechanism and single drive motor. The manipulator can realize the automatic control of the grasping force of each finger, and can automatically adjust the position and the grasping force of the finger when grabbing the object. First of all, through the domestic and foreign manipulator development status analysis and research, clear design task. The drive scheme and transmission mechanism of the manipulator are determined by comparing and analyzing the application of drive technology and transmission mechanism. Secondly, from the point of view of bionics and anatomy, the paper analyzes the structure and functional characteristics of the hand, which provides reliable design parameters and basis for the design of the robot hand attached to the shape. Based on this, the index finger of the robot hand with shape grabbing is completed. Detailed structural design of middle finger, ring finger, thumb and palm. Finally, the kinematics model of the manipulator is established by using D-H parameter method. According to the known kinematics parameters of each joint, the forward kinematics equation is derived. The position and orientation of the relative reference coordinate system at the end of the finger are obtained, and the inverse kinematics equation of the manipulator is derived according to the position and attitude requirement of the relative reference coordinate system of the end of the finger, and the kinematic parameters of each joint are obtained. The Jacobian matrix is used to analyze the relationship between the velocity of manipulator and the velocity of the corresponding joint, the motion parameters required for the motion of the manipulator are realized by the control system, and the position and pose of the manipulator's motion expectation are realized. It lays a foundation for the control of manipulator and the realization of grasping.
【学位授予单位】：兰州交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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