基于绳轮传动的多模式欠驱动机器人手设计  

Design of a Multi-mode Under-actuated Robot Hand Based on Rope Wheel Drive

作　　者：姜天怀 黄龙 范书豪 李滔韬 余群 Jiang Tianhuai;Huang Long;Fan Shuhao;Li Taotao;Yu Qun(International College of Engineering,Changsha University of Science and Technology,Changsha 410114,China;College of Automotive and Mechanical Engineering,Changsha University of Science and Technology,Changsha 410114,China)

机构地区：[1]长沙理工大学国际工学院,长沙410114 [2]长沙理工大学汽车与机械工程学院,长沙410114

出　　处：《机电工程技术》2024年第1期44-47,共4页Mechanical & Electrical Engineering Technology

基　　金：湖南省大学生创新创业训练计划项目。

摘　　要：为了解决传统的机器人手结构简单,在一些复杂的抓取作业中无法满足实际生产需要、难以兼顾精确性和自适应性、运动模式和夹持功能单一的缺陷,以及灵巧机器人手结构复杂、控制困难等问题,提出了一种基于多回路绳轮传动式的多模式欠驱动机器人手的设计方案。该欠驱动式机器人手设计方案从驱动和传动方式的选择、手指设计、运动状态等多个方面提出,利用Solid⁃Works和CAD对机器人手结构进行建模,并对其不同指节接触到待夹取物体的不同运动状态进行分析。由分析可知,其独特的欠驱动设计,在保留原有的稳定夹持功能的同时提高了对不同物体夹持的适应性,在实现了自适应夹取和平行夹取两种工作模式的同时简化了驱动和控制设计过程,使得对目标物体的夹持更具针对性,夹持过程更加稳定,左右两指均可实现自适应夹持工作,可以有效解决传统机器人手存在的缺陷。In order to solve the problems of traditional robot hands,such as simple structure,inability to meet actual production needs in some complex grasping operations,difficulty in taking into account accuracy and adaptability,single movement mode and clamping function,and complex structure and control difficulties of dexterous robot hands.A design scheme is proposed for a multi mode under-actuated robot hand based on multi loop rope wheel transmission.The under-actuated robot hand design scheme is proposed from multiple aspects such as the selection of drive and transmission modes,finger design,and motion state.SolidWorks and CAD are used to model the structure of the robot hand,and the different motion states of its different knuckles contacting the object to be gripped are analyzed.From the analysis,it can be seen that its unique under-actuated design improves the adaptability to different object clamping while retaining the original stable clamping function.It simplifies the driving and control design process while implementing two working modes,namely adaptive clamping and parallel clamping,making the clamping of target objects more targeted and more stable,and enabling both left and right fingers to achieve adaptive clamping,and it can effectively solve the defects of traditional robot hands.

关 键 词：绳轮传动 欠驱动 机器人手 平夹自适应 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]