欠驱动灵巧手的优化设计及仿真分析  

Optimization design and simulation analysis of anunderactuated dexterous hand

作　　者：张林 王兴东[1] 孙伟 龚彩云[1] ZHANG Lin;WANG Xingdong;SUN Wei;GONG Caiyun(Key Laboratory of Metallurgical Equipment and Control of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081

出　　处：《武汉科技大学学报》2024年第1期47-54,共8页Journal of Wuhan University of Science and Technology

基　　金：国家自然科学基金项目(51875418)。

摘　　要：传统欠驱动机械手的运动空间相对固定、操作功能单一,对抓取物没有较强的自适应性,为此设计一种新的连杆式欠驱动灵巧手机构,并进行设计优化和仿真抓取实验。阐述了该灵巧手的整体机构设计及工作原理,其可实现包络和指尖两种抓取模式。根据手指的几何尺寸采用协同耦合方式设计手掌尺寸,利用可变手掌协同手指抓取,提高了灵巧手在抓取形状复杂和不同尺寸物体时的自适应性。基于虚功原理建立灵巧手单指各关节的接触力模型,针对抓取过程中存在的抓取力不足及抓取不稳等问题,使用NSGA-II优化算法对单指机构的杆长进行尺度综合。利用建立的虚拟样机进行仿真抓取实验,结果表明,该灵巧手具有较强的自适应性,能够稳定抓取多种形状和尺寸的物体。The traditional underactuated manipulators have fixed working space,single operation function and weak adaptability to objects being grabbed.Therefore,a linkage-type underactuated dexterous hand was designed,and design optimization and simulated grasping experiments were carried out.The integral mechanism design and working principle of this dexterous hand were expounded.The hand can realize two grasping modes of envelope and fingertip.According to the geometric size of the finger,the palm size was designed in a collaborative coupling way,and the variable palm was used to cooperate with the finger grasp,which improved the adaptability of the dexterous hand when grasping objects of complex shapes and different sizes.The contact force model of each knuckle in the single finger was established based on the principle of virtual work.To solve the problems of insufficient force and instability in the grasping process,NSGA-II algorithm was used to conduct dimensional synthesis of the rod length of the single finger mechanism.The results of simulated grasping experiments on the virtual prototype show that the dexterous hand has strong adaptability and can stably grasp objects of various shapes and sizes.

关 键 词：欠驱动灵巧手 协同耦合设计 尺度综合 动力学仿真 

分 类 号：TH112[机械工程—机械设计及理论]