柔性灵巧手的控制系统设计与仿真  

Design and Simulation of Control System for Flexible Dexterous Fand

作　　者：王君[1] 程浩[1] 陈俊杰 姜荣俊 WANG Jun;CHENG Hao;CHEN Jun-jie;JIANG Rong-jun(School of Mechanical Engineering Hubei University of Technology,Hubei Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,湖北武汉430068

出　　处：《机械设计与制造》2023年第10期242-247,共6页Machinery Design & Manufacture

基　　金：湖北省自然科学基金重点资助项目(2015CFA112);湖北省教育厅优秀中青年科技创新团队资助项目(T201505)。

摘　　要：针对软体机器人容易侧弯、刚度低、安全性差等问题,以三自由度软体驱动器为基础设计了一种具有上下弯曲和左右侧摆功能的柔性灵巧手,在此基础上建立了柔性灵巧手位姿方程,接着在分析了手指抓持策略后,提出并建立了一种灵巧手指力/位置控制系统,然后利用Simulink对控制系统进行仿真,最后完成实验验证。结果表明:灵巧手指力/位置控制系统满足实际力学特性要求,并且控制器参数中比例调节系数为7.5,积分调节系数为10000,微分调节系数为0时,系统具备最佳的控制性能。Aiming at the problems of soft robot,such as easy side bending,low stiffness and poor safety,a flexible dexterous hand with the functions of up-down bending and left-right swing is designed based on the three-degree-of-freedom software driver.On this basis,the pose equation of the flexible dexterous hand is established.After analyzing the finger grasping strategy,a dexterous finger force/position control system is proposed and established,Simulink is used to simulate the control system,and finally the ex-perimental verification is completed.The results show that:the dexterous finger force/position control system meets the require-ments of actual mechanical characteristics,and the system has the best control performance when the proportional adjustment coef-ficient is 7.5,the integral adjustment coefficient is 10000,and the differential adjustment coefficient is 0.

关 键 词：柔性灵巧手 力/位置控制系统 位姿方程 PID控制 

分 类 号：TH16[机械工程—机械制造及自动化] TH12