两关节串联柔性手指末端输出力特性研究  

Study on the Output Force Characteristics of the Flexible Fingertip with Two Joints in Series

作　　者：刘洪波 孟祥蕊 祝燕 LIU Hongbo;MENG Xiangrui;ZHU Yan(Engineering Training Center,Beihua University,Jilin Jilin 132021;School of Nursing,Beihua University,Jilin Jilin 132013,China)

机构地区：[1]北华大学工程训练中心,吉林吉林132021 [2]北华大学护理学院,吉林吉林132013

出　　处：《机床与液压》2022年第21期59-62,共4页Machine Tool & Hydraulics

基　　金：吉林省发改委产业自主创新能力项目(2020C021-4);2021吉林省大学生创新创业训练项目(202110201016);吉林省教育厅十四五科学技术研究项目(JJKH20220048KJ)。

摘　　要：柔性手指由双肌肉驱动型单向弯曲关节和单肌肉驱动型单向弯曲关节串联而成,具有2个自由度,弯曲变形时具有大的变形和非线性的特征。根据手指变形规律,采用D-H法创建手指的运动学方程,推导出其对应的力雅克比矩阵,分析手指夹持物体时末端受力情况,建立手指末端输出力与两关节气压增量之间的数学模型,该模型表明手指末端输出力与两关节气压增量近似呈正比。通过MATLAB仿真和实验相结合的方法对手指末端输出力进行研究,所建模型的仿真结果与实验结果对比误差较小,基本一致,验证了模型的准确性。The flexible finger is composed of dual-muscle-driven unidirectional bending joint and a single-muscle-driven unidirectional bending joint in series.It has two degrees of freedom and has the characteristics of large deformation and nonlinearity during bending.According to the deformation law of the finger,the kinematics equation of the finger were established by using the D-H method and the corresponding Jacobin matrix of forces was deduced.The forces of the fingertip were analyzed when they were clamping objects,and the mathematical model between the fingertip clamping forces and the air pressure increment of each joint was established.The model shows that the output forces of the fingertip is approximately proportional to the air pressure increment of each joint.Through the combination method of MATLAB simulation and experiment,the output force of the fingertip was studied.The simulation results of the model and the experimental results have little error and basically consistent,which verifies the accuracy of the model.

关 键 词：气动单向弯曲关节 串联柔性手指 输出力模型 MATLAB仿真 

分 类 号：TH138.5[机械工程—机械制造及自动化]