柔性关节五指机械手抓取能力与运动控制

发布时间：2019-02-25 21:42

【摘要】：近年来,随着社会和科技的不断进步,机器人技术在人们生产生活中得到了越来越多的关注与应用。基于气动柔性关节的机械手具有柔性高、自适应性强和安全无污染等特点,在服务、医疗和工业机器人等领域,具有广阔的应用前景。气动柔性关节五指机械手的工作原理是控制通入各关节手指的气压实现弯曲变形,完成抓握动作。研制目的是使其具有人手的外形与功能,实现对不同物体的抓取操作,并具有良好的适应性。为了提高五指机械手的柔顺性和灵活性,在前人研究的基础上,本文开发了双驱单向弯曲关节和单维双向弯曲关节,该类关节是关节本体与驱动装置复合一体的单自由度弹性体。建立了单向弯曲关节的弯曲变形理论模型和柔性关节夹持力理论模型,并通过实验对其进行了验证。从仿生学角度出发,利用四种柔性关节研制了一种柔性关节五指机械手。该机械手外形与人手类似,大小约为人手的1.5倍,整体质量为725g,具有5个手指,每个手指由两个柔性关节组成,共10个自由度,4个机动度。机械手各手指相互配合,能够实现抓、握、捏、夹和弹等类似人手的功能,可以适应直径小于207mm的柱体、球体、三角形和不规则物体等,最大抓取物体质量为1.5kg。利用动力学实验装置对机械手各手指进行动力学实验,得到了各柔性手指不同驱动方式下的斜坡信号响应特性。安装了加速度计、陀螺仪和触力传感器,与控制器形成闭环控制,确保机械手手指位姿控制和力控制的精确性和可靠性。搭建了机械手控制系统,利用该系统对机械手进行了运动姿态和抓取物体实验,验证五指机械手的功能性。本文所研制的柔性关节五指机械手具有较好的柔顺性和灵活性,能够实现人手的大部分功能,为柔性关节机械手的开发与应用打下了基础。
[Abstract]:In recent years, with the development of society and science and technology, robot technology has gained more and more attention and application in people's production and life. The manipulator based on pneumatic flexible joints has the characteristics of high flexibility, strong self-adaptability and safe and pollution-free. It has broad application prospects in the fields of service, medical treatment and industrial robot. The working principle of pneumatic flexible joint five-finger manipulator is to control the air pressure into each joint to achieve bending and deformation, and to complete the grip action. The purpose of this paper is to make it have the shape and function of human hand, realize the grabbing operation of different objects, and have good adaptability. In order to improve the flexibility and flexibility of the five-fingered manipulator, on the basis of previous studies, the two-drive unidirectional bending joint and one-dimensional bi-directional bending joint are developed in this paper. This kind of joint is a single-degree-of-freedom elastic body which is composed of joint body and driving device. The bending deformation model of unidirectional bending joint and the theoretical model of clamping force of flexible joint are established and verified by experiments. From the point of view of bionics, a five-finger manipulator with flexible joints was developed by using four kinds of flexible joints. The shape of the manipulator is similar to that of the human hand. The size of the manipulator is about 1.5 times that of the human hand, and the overall mass is 725g. The manipulator has five fingers, each of which is composed of two flexible joints with a total of 10 degrees of freedom and four degrees of mobility. The fingers of the manipulator cooperate with each other to achieve the functions of grasping, gripping, pinching, clamping and projecting, etc., and can be adapted to columns, spheres, triangles and irregular objects with diameters smaller than 207mm. The maximum mass of grab objects is 1.5 kg 路kg ~ (- 1). The dynamic experiment of each finger of the manipulator is carried out by means of the dynamic experiment device, and the response characteristics of the slope signal under different driving modes of each flexible finger are obtained. Accelerometers, gyroscopes and contact sensors are installed to form a closed-loop control with the controller to ensure the accuracy and reliability of the manipulator's finger position and position control and force control. The manipulator control system is built, and the motion attitude and object grabbing experiments are carried out to verify the function of the five-fingered manipulator. The flexible joint five-finger manipulator developed in this paper has good flexibility and flexibility, and can realize most of the functions of the hand, which lays a foundation for the development and application of the flexible joint manipulator.
【学位授予单位】：北华大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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