欠驱动仿人机器人手爪的精确捏取与包络抓取研究  

Research on precise nipping and enveloped grabbing of under-actuated humanoid robot paws

作　　者：李涛[1,2] 骆敏舟[1] 时张杰 徐林森[1,3] 

机构地区：[1]中国科学院合肥智能机械研究所,安徽合肥230031 [2]中国科学技术大学精密机械与精密仪器系,安徽合肥230027 [3]常州机械电子工程研究所,江苏常州213164

出　　处：《机械设计》2009年第11期42-45,共4页Journal of Machine Design

基　　金：国家863计划资助项目(2007AA041502);安徽省自然科学基金资助项目(070414147);安徽省仿生感知与先进机器人技术重点实验室资助项目

摘　　要：研制出一种基于欠驱动机构的仿人机器人手爪,分析了手爪可实现的2种抓取模式(精确捏取和包络抓取),应用力矩平衡分析了精确捏取模式下末关节对物体的作用力与输入转矩的关系,应用虚功原理分析了包络抓取模式下各关节对物体的作用力与输入转矩的关系,并比较了2种抓取模式的抓取质量。最后在COSMOSMotion仿真环境中模拟了2种模式对圆柱形物体的抓取,验证了对抓取质量的分析。A kind of humanoid robot paws was developed based on the under-actuated mechanism.Two kinds of grabbing modes（precise nipping and enveloped grabbing） that the paws could achieve were analyzed,the relationship between the force acted on object by end joint and inputting torque under precise nipping mode was analyzed by the application of moment equilibrium.Using the virtual work principle to analyze the relationship between forces acted on object by every joint and inputting torque under the enveloping grabbing mode, and the grabbing quality of two kinds of grabbing modes was compared. Finally two modes of grabbing on the cylindrical object were simulated in the simulative environment of COSMOSMotion, and the analysis on the grabbing quality was verified.

关 键 词：仿人机器人 机器人手爪 欠驱动 静力学 COSMOSMOTION 仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]