基于仿人并联手指机构的机器人灵巧手设计与性能研究  

Design and performance research of robot dexterous hand based on humanoid parallel finger mechanism

作　　者：方跃法[1] 黄一峻 FANG Yuefa;HUANG Yijun(School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《北京交通大学学报》2021年第4期146-156,共11页JOURNAL OF BEIJING JIAOTONG UNIVERSITY

基　　金：国家自然科学基金(5197051608)。

摘　　要：为满足工业上对机器人灵巧手灵巧度高、承载能力强和精度高的要求,提出一种具有2T1R运动类型的仿人并联手指机构,并设计一种基于仿人并联手指机构的机器人灵巧手.对并联手指机构进行了自由度、运动学的分析,并用Adams对运动学分析进行了验证;利用机构的约束条件,确定了并联手指机构的工作空间;根据所建立的雅克比矩阵,研究了并联手指机构的奇异性与灵巧性,分析了力的传递性质;建立了灵巧手的抓取模型,分析了灵巧手协调操作的自由度、运动学和空间.通过研究分析,验证了灵巧手可行性与实用性,运动及性能方面可以满足工业生产的需求.In order to meet the industrial requirements of high dexterity,strong carrying capacity and high precision of robot dexterous hand,this paper proposed a humanoid parallel finger mechanism with 2T1R motion type,and designed a robot dexterous hand based on humanoid parallel finger mechanism.The degree of freedom and kinematics of parallel finger mechanism were analyzed,and the kinematics analysis was verified by Adams.By using the constraint conditions of the mechanism,the working space of the parallel finger mechanism was determined.According to the jacobian matrix,the singularity and dexterity of parallel finger mechanism were studied,and the transfer property of force was analyzed.The grasping model of the dexterous hand was established,and degree of freedom,kinematics and space of coordinated operation of dexterous hand were analyzed.Through the research and analysis,the feasibility and practicability of the dexterous hand are verified,and its movement and performance can meet the requirements of industrial production.

关 键 词：并联机构 灵巧手 性能分析 协调操作 

分 类 号：TH112[机械工程—机械设计及理论]