仿人机械臂的末端执行器的运动学与力学分析

发布时间：2018-02-26 01:27

本文关键词： 仿人机械手运动学分析力学分析构型 MATLAB/Simulink　出处：《河北工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着科技的进步,社会经济的发展,机械手的应用领域在不断的扩大,已经从工业领域应用到日常生活当中。因此为了提高残疾人(特指上肢残疾)的生活质量和增强在日常生活中的自理能力,本课题以仿人机械臂的末端执行器(简称机械手)为研究对象,研制出能够替代人手完成日常生活中的一些事情和结构相对简单的仿人机械手,从而达到所需的功能要求。具体内容如下:(1)从仿生学的角度出发,对仿人机械手的结构进行综合分析,确定了包括一个手掌、三个手指、指节连杆以及推盘等的机械手结构,并利用SolidWorks软件建立三维实体模型。(2)从运动学角度出发,建立运动学模型,对机械手进行了运动学分析。基于运动学分析的理论基础,运用MATLAB/Simulink软件进行了运动学仿真,确定了机械手各个构件在任意时刻的位置、角速度、角加速度以及末端位置的运动轨迹,并对仿真结果进行了分析,得出了机械手运动平稳的结论,表明设计合理。(3)本文对机械手进行了基本的受力分析,得出了机械手在抓取物体时各关节的受力和驱动力的变化趋势,从而确定机械手可以稳定的抓取物体;然后,对机械手进行了强度分析,确定了材料满足强度要求。综上所述,本文完成了仿人机械手的主要结构的构型,利用运动学理论进行了运动学分析及仿真,同时,完成了对仿人机械手基本的受力分析,进行了强度的校核,验证了仿人机械手结构的合理性和可行性。
[Abstract]:With the progress of science and technology and the development of social economy, the application field of manipulator is constantly expanding. In order to improve the quality of life of persons with disabilities (especially upper limb disability) and to enhance their ability to take care of themselves in daily life, Taking the end actuators of humanoid manipulator as the research object, a humanoid manipulator which can replace the human hand to accomplish some things and simple structure in daily life is developed. In order to meet the required functional requirements, the specific contents are as follows: 1) from the point of view of bionics, the structure of the humanoid manipulator is comprehensively analyzed, and the structure of the manipulator, including one palm, three fingers, a knuckle linkage and a push disk, is determined. The kinematics model of manipulator is established from the kinematics point of view. Based on the theoretical basis of kinematics analysis, the kinematics simulation is carried out by using MATLAB/Simulink software. The position, angular velocity, angular acceleration and terminal position of each component of the manipulator are determined at any time. The simulation results are analyzed, and the conclusion that the manipulator moves smoothly is obtained. It shows that the design is reasonable. (3) in this paper, the basic force analysis of the manipulator is carried out, and the change trend of the force and driving force of each joint is obtained when the manipulator grabs the object, so as to determine that the manipulator can grasp the object stably; then, The strength analysis of manipulator is carried out, and the material meets the strength requirement. In summary, the configuration of the main structure of humanoid manipulator is completed, and the kinematics analysis and simulation are carried out by using kinematics theory, at the same time, The basic force analysis of humanoid manipulator is completed, the strength of the manipulator is checked, and the rationality and feasibility of the structure of humanoid manipulator are verified.
【学位授予单位】：河北工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP241

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