基于力封闭的异型两指机器人手抓取方法研究  

Research on grasping method of special shape two-finger robot hand based on force closure

作　　者：曹现刚[1,2] 黄世凯 向敬芳 吴旭东 魏恒阳 CAO Xiangang;HUANG Shikai;XIANG Jingfang;WU Xudong;WEI Hengyang(School of Mechanical Engineering,Xi'an University of Science and Technology,Xi'an 710054,China;Shaanxi Key Laboratory of Mine Electromechanical Equipment Intelligent Monitoring,Xi'an 710054,China)

机构地区：[1]西安科技大学机械工程学院,西安710054 [2]陕西省矿山机电装备智能监测重点实验室,西安710054

出　　处：《现代制造工程》2023年第11期47-54,共8页Modern Manufacturing Engineering

基　　金：国家自然科学基金面上项目(51975468);陕西省重点研发计划项目(2018GY-160);陕西省科技厅项目(2023-JC-YB-362)。

摘　　要：扣件组件拆装是铁路维护与检修的重要环节之一。针对铁路扣件组件具备装配关系约束、非规则外轮廓和狭小操作空间的问题,设计了一种用于扣件组件整体抓取的异型两指机器人手,利用多个接触指端、手掌和手指开合动作对部分扣件组件形成主动包络,将扣件组件整体抓取问题转换为单个组件的力封闭抓取问题。建立稳定静力抓取模型,利用拉格朗日乘子法求解摩擦锥非线性约束条件,并通过调节法向力权值系数求得满足力封闭抓取条件的手指接触力。实验结果表明,异型两指机器人手能够实现扣件组件的部分主动包络,并有效保持扣件组件装配关系。基于力封闭抓取成功率为90%,相较于主动包络抓取提高30%。Disassembly and assembly of fastening assembly is one of the important links in railway maintenance and overhaul.Aiming at the constraints of assembly relation,irregular contour and narrow operation space of railway fastening assembly,a special shape two-finger robot hand was designed for the overall grasping of fastening assembly.The opening and closing actions of multiple contact fingertips,palms and fingers were used to form an active envelope for partial fastening assembly,and the overall grasping problem of fastening assembly was transformed into a force closure grasping problem of a single component.A stable static grasping model was established,the Lagrange multiplier method was used to solve the nonlinear constraints of friction cone,and the finger contact force satisfying the force closure grasping condition was obtained by adjusting the weight coefficient of normal force.The experimental results showed that the special shape two-finger robot hand can realize the partial active envelope of fastening assembly and effectively maintain the assembly relationship of fastening assembly.The success rate of force closure grasping is 90%,which is 30%higher than that of active envelope grasping.

关 键 词：扣件组件 机器人手 主动包络 力封闭 拉格朗日乘子法 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]