双电机协同控制的变掌机械手抓取范围研究  

Research on the Grasping Range of a Variable Manipulator with Two Motors Coordinated Controlling

作　　者：范晨阳 章军 崔军 顾新春 FAN Chen-yang;ZHANG Jun;CUI Jun;GU Xin-chun(School of Mechanical Engineering,Jiangnan University,Wuxi Jiangsu 214122,China;Food Advanced Manufacturing Equipment Laboratory of Jiangsu Province,Wuxi Jiangsu 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重点实验室,江苏无锡214122 [3]常熟开关制造有限公司,江苏苏州215550

出　　处：《组合机床与自动化加工技术》2018年第10期10-12,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：2015年国家科技支撑计划:江苏省数控一代机械产品创新区域应用示范工程(2015BAF25B00)

摘　　要：针对双电机协同控制手指变位与转位的变掌机械手的结构,建立了机械手工作时的简化运动模型,通过对手指在抓取过程中的运动学分析,得出了手指的运动轨迹,计算出手指在接触物体后的运动趋势,即驱动力的施加方向;利用D-H变换矩阵表达了相邻连杆间的位姿关系,得到机械手手指的位置坐标表达;根据手指运动轨迹,经计算得出手掌的抓取范围,通过Matlab软件计算实例,验证了运动模型的正确性。According to the Structure of variable palm manipulator based on dual motor coordinated control of finger shift and transposition,a simplified kinematic model of manipulator is established.Through the expression of the finger position in the coordinate system,the trajectory of the finger is obtained.We calculated the movement trend of the finger in contact with the object,that is,the direction of the driving force;The position and orientation relations between adjacent connecting rods are expressed by using D-H matrix,and the conjecture of multi link variable palm mechanism is putting forward;According to the trajectory of the finger,the grasping range of the palm is calculated,and the correctness of the motion model is verified by the example of MATLAB software.

关 键 词：机械手 变掌 手指坐标 抓取范围 模型验证 

分 类 号：TH122[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]