基于变胞理论的欠驱动多指节灵巧手指的构态分析  

Configuration analysis of under-actuated multi-phalanx dexterous finger based on metamorphic mechanisms

作　　者：何竞飞[1] 徐超[1] 潘祺[1] 邓华[1] 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083

出　　处：《机械设计》2014年第3期34-38,共5页Journal of Machine Design

基　　金：国家重点基础研究发展"973"规划资助项目(2011CB013300-G)

摘　　要：基于变胞机构理论,提出了一种新的分析欠驱动多指节灵巧手指的方法,定义了欠驱动二指节灵巧手指抓取过程的3个构态,并通过邻接矩阵建立了各构态之间转换的关系方程,从而从根本上解释了灵巧手指的欠驱动原理,为欠驱动灵巧手的机构设计及控制规划提供了理论指导。建立了欠驱动二指节灵巧手指的运动学方程,分构态分析了灵巧手指的运动学特性,结果表明欠驱动灵巧手指运动中构态间变换的平顺性非常重要,并相应提出了两种设计方案。提出的构态分析法在欠驱动三指节或多指节灵巧手指的分析中同样适用。Based on metamorphic mechanisms, a new analysis in under-actuated multi-phalanx dexterous finger is put forward- configuration analysis, three configurations of under-actuated 2- phalanx dexterous finger during grasping are defined,and transfo- rmation relation equation is established according to adjacency matrix among the configurations ,which radically explains the un- der-actuated mechanism and also provides theoretical guidance in under-actuated mechanism design and control planning of under- actuated dexterous finger. With the establishment of kinematics e- quations ,kinematics characteristics of dexterous hand is analyzed under different configurations,the results show that the ride com- fort during the configurations transformation in under-actuated dex- terous finger is very important ,and two design schemes are pro- posed. The configuration analysis that proposed is also applicable for under-actuated 3-phalanx or multi-phalanx dexterous finger.

关 键 词：变胞理论 欠驱动灵巧手指 构态分析 运动特性 

分 类 号：TH112[机械工程—机械设计及理论]