单链传动双齿条平夹间接自适应机器人手研制  

Development of a Parallel and Indirectly Self-adaptive Robot Hand with Single-chain Transmission of Double-rack Mechanism

作　　者：苏靖惟 张文增[1] Su Jingwei;Zhang Wenzeng(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China)

机构地区：[1]清华大学机械工程系,北京100084

出　　处：《机械传动》2019年第2期154-161,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51575302)

摘　　要：传统平夹自适应手指采用并联的两套传动机构,存在机构复杂的缺点。提出了一种具有单链式平夹间接自适应复合抓取模式的机械手(PISA手)。PISA手指包括3个齿轮、2个齿条、滑块、拨块、限位块和单个弹簧等,由单个电机驱动双关节手指转动。PISA手能用远指段平行夹持物体,用有滑块的近指段和远指段自适应包络物体。介绍了PISA手的组成和运动过程,进行抓取范围和抓取力大小的理论分析,研制带有3个PISA手指的PISA机器人手。通过仿真和抓取实验结果表明,PISA手能根据物体不同的形状在不同的位置,自主切换平夹或是间接自适应的抓取模式,实现稳定抓取。PISA手指具有传动效率高,手指结构紧凑特点。Traditional robot fingers with parallel and self-adaptive hybrid grasping mode have doublechain transmission mechanisms,which have disadvantages of complexity in mechanisms.A novel design of a parallel and indirectly self-adaptive underactuated robot finger with a single chain transmission mechanism,called PISA hand is presented.The method uses three gears,two racks,a slider,a block,a limit and a spring to achieve using a single motor to drive two phalanges.The PISA finger can realized the pinching grasp with the distal phalanx and enveloping grasp with the proximal phalanx with a slider and the distal phalanx.The composition and movement process of the PISA finger are introduced in detail.Theoretical analysis of the range and grasping force are given.Simulation and experimental results show that the PISA finger can automatically switch the grasping modes according to the different positions and shapes of the object so as to achieve stable grasping.The PISA hand has high transmission efficiency,compact structure.

关 键 词：机器人手 欠驱动手 间接自适应 平夹抓取 单链传动 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]