三指灵巧手结构设计及接触力规划  

Structure Design of Three-Fingered Dexterous Hand and Contact Force Planning

作　　者：蔡博 高宏力[1] 宋兴国 王奉晨 CAI Bo;GAO Hong-li;SONG Xing-guo;WANG Feng-chen(School of Mechanical Engineering,Southwest Jiaotong University,Sichuan Chengdu610031,China)

机构地区：[1]西南交通大学机械工程学院

出　　处：《机械设计与制造》2020年第1期127-131,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金（51605393）;中央高校基础研究基金（A0920502051619-28）

摘　　要：针对传统灵巧手追求灵活性而带来其外形尺寸过大、结构复杂的问题,设计一种小巧紧凑而灵活性高的全驱动三指灵巧手并建立其三维模型。采用拉格朗日法建立单手指动力学模型并进行动力学分析。然后将灵巧手三维模型导入ADAMS软件中建立灵巧手虚拟样机进行仿真,得到其运动学与动力学等性能曲线。利用MATLAB软件对其动力学方程进行数值分析,其理论分析结果与ADAMS仿真结果一致,验证了理论计算的正确性和灵巧手结构设计的合理性。基于拉格朗日乘子法求取抓取力初值,通过引入稳定系数对其进行优化得到优化接触力,同时也验证了其在手指关节驱动力矩约束下的合理性,为灵巧手手指抓取力计算提供了新的参考。For the problem of large size and complex structure of the traditional dexterous hand in pursuit of its flexibility,a fully actuated three fingered dexterous hand with high flexibility,small and compact size was designed,and its 3D model was established. The dynamic model of a single finger was established by using Lagrange method and the dynamic analysis was carried out. Then the 3D model of the dexterous hand was put into ADAMS simulation software to construct the virtual prototype,the performance curves of its kinematics and dynamics were obtained. The dynamic equations are numerically analyzed by using MATLAB software,the theoretical analysis results are consistent with the simulation results of ADAMS,which verifies the correctness of the theory calculation and the rationality of the structure design of the dexterous hand. Based on the Lagrange multiplier method,initial grasping forces were acquired,and then optimal contact forces can be determined by introducing a coefficient to optimize it,which verifies the rationality of its results under the constraint of the joint driving torque in the meanwhile,and provides a new reference for the calculation of the grasping forces of dexterous hand.

关 键 词：三指灵巧手 动力学模型 仿真 力规划 

分 类 号：TH16[机械工程—机械制造及自动化]