机器人多指手可变腕掌设计  

Design of the Alterable Arms-palm for Robotic Multi-fingered Hands

作　　者：李建海 张秋菊 Li Jianhai;Zhang Qiuju(School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology, Wuxi 214122, China)

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《机械传动》2017年第11期60-64,141,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51575236)

摘　　要：目前,对于大小、形状各异的物体,机器人多指手的抓取规划和控制问题尚未得到完善的解决。总结现有各类机器人手掌,发现一些新型手掌结构可以提高机器人多指手的灵巧性和工作空间,且结构和控制相对简单。基于此,分析了章鱼腕的运动机理,提出了广义腕掌结构,可构型出任意大小和形状的多边形,并依此结构设计了一种12自由度的仿生机器人四指手。为了简化结构和控制,设计了一种5自由度的新型手掌结构,命名为可变腕掌。对于不同大小和形状的物体,可变腕掌能够自适应改变手掌构型,将手指变位到最佳的接触点位置,大幅提高了机器人多指手的灵巧度和工作空间。构型分析表明,对于大小、形状各异的物体,可变腕掌能够简单快速地实现自适应构型,既提高了机器人多指手的抓取质量,又降低了抓取规划和控制的难度。For the objects with different sizes and shapes,grasp planning and control problems of the robotic multi-fingered hands have not been solved perfectly till now. After summarizing varieties of the existing robotic palms,it is concluded that some novel palm structures can improve the dexterity and working space of the robotic multi-fingered hands,and make the structure and control simpler. Based on the analysis of the motion mechanism of the octopus arms,the generalized arms-palm structure is put forward,which can be configured to any size and shape of the polygon. Then a bionic robotic multi-fingered hand with 12 DOF is designed. In order to simplify the control and structure,a novel bionic palm structure with 5 DOF is proposed,named the alterable arms-palm. For the objects with different sizes and shapes,the alterable arms-palm will change into the suitable configuration of the palm,shifting the fingers to the optimal contact point locations on the objects. In this way,the dexterity and working space of the robotic multi-fingered hands are improved significantly by the alterable arms-palm. The configuration analysis shows that the adaptive palm-configuration of various sizes and shapes can be realized simply and rapidly by the alterable arms-palm,the grasp quality is improved and the complexity of grasp planning and control is reduced.

关 键 词：机器人多指手 手掌结构 仿生设计 构型分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]