欠驱动多指机械手优化设计与抓取稳定性分析  

Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator

作　　者：雷翔鹏 唐术锋[1] 梁威 郭子瑞 Lei Xiangpeng;Tang Shufeng;Liang Wei;Guo Zirui(School of Mechanical Engineering,Inner Mongolia University of Technology,Hohhot 010151,China)

机构地区：[1]内蒙古工业大学机械工程学院,内蒙古呼和浩特010051

出　　处：《机械传动》2020年第11期53-58,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(6176020060);内蒙古工业大学校重点基金基础研究项目(ZD201701)。

摘　　要：针对欠驱动机械手多模式抓取问题,提出了一种手指可拆卸、具有复合抓取功能的欠驱动机械手。为了研究欠驱动手的抓取性能,分别研制了一种弹簧自适应3指节手指机构和一种双四连杆3指节手指机构,两种手指机构均使用四连杆机构的运动原理。手指的性质对欠驱动机械手的抓取稳定性影响很大,对欠驱动机械手单个手指的属性进行分析,分析了关节接触点位置及接触力对抓取稳定性的影响,提出了接触力及力矩平衡的研究分析方法,探讨了影响抓取稳定性的因素。Aiming at the multi-mode grasping problem of the under-actuated manipulator,an under-actuated manipulator with detachable fingers and composite grasping function is proposed.In order to study the grasping performance of the under-actuated manipulator,a spring-adaptive three-knuckle finger mechanism and a double four-link three-knuckle finger mechanism are developed respectively.Both finger mechanisms use the motion principle of four-link mechanism.The nature of the finger greatly affects the grasp stability of the under-actuated manipulator.The properties of a single finger of an under-actuated manipulator are analyzed,and the influence of the position of the joint contact point and the contact force on the grasp stability is analyzed.A theoretical analysis method of the contact force and moment balance is proposed,and the factors affecting the grasping stability factor are discussed.

关 键 词：欠驱动机械手 手指机构 优化设计 接触力 抓取稳定性 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]