基于反推式绳轮机构的欠驱动三指节机械手结构设计与静力分析  

Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism

作　　者：朴金生 张建川[1,2] 潘伟 葛云峰[3] 路长厚 Piao Jinsheng;Zhang Jianchuan;Pan Wei;Ge Yunfeng;Lu Changhou(School of Mechanical Engineering,Shandong University,Jinan 250061,China;Key Laboratory of High-efficiency and Clean Mechanical Manufacture,Ministry of Education,Shandong University,Jinan 250061,China;Shandong Telian Information Technology Co.,Ltd.,Jinan 250101,China)

机构地区：[1]山东大学机械工程学院,山东济南250061 [2]山东大学高效洁净机械制造教育部重点实验室,山东济南250061 [3]山东特联信息科技有限公司,山东济南250101

出　　处：《机械传动》2023年第12期60-68,共9页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51975337)。

摘　　要：基于连杆式和绳轮式欠驱动机构的特点,提出了一种反推式绳轮新机构。介绍了反推式绳轮机构的结构原理及运动特性,完成了用于物料袋抓取的新机构三指节机械手的结构设计。首先,基于平面力系平衡方法对三指节机械手进行静力学分析,采用Adams软件静力学仿真初步验证了静力学分析的准确性,并与连杆式及传统绳轮式结构进行对比仿真,验证了新机构力转换率高的特性;然后,对三指节机械手进行了简化建模、运动学包络抓取仿真和静力学抓取接触力仿真。结果表明,三指节机械手具备移动式包络抓取的能力;但当前设计存在接触力分布不均的缺点,需要进一步优化。Based on the characteristics of the link structure and the rope pulley structure,a new reverse rope-pulley mechanism is proposed.The principle and motion characteristics of the new mechanism are intro-duced,and the structure of a three-knuckle manipulator with new mechanism for bag grabbing is designed.Firstly,the static analysis of the three-knuckle manipulator is carried out based on the method of equilibrium of plane forces.The accuracy of the static analysis is verified by Adams statics simulation,and the characteristic of higher force conversion rate is verified by the comparison and simulation with the link structure and rope pulley structure.Secondly,simplified modeling,kinematic envelope grasping simulation and static grasping contact force simulation are carried out for the three-knuckle manipulator.The mobile envelope grasping ability of the three-knuckle manipulator is shown by the simulation results.However,the disadvantage of uneven contact force distribution needs to be optimized for the current design.

关 键 词：欠驱动机构 绳驱 静力学分析 运动学仿真 静力学仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]