基于物体轮廓的GXU-grasper手指传动性能分析  

Transmission Performance Analysis of GXU-grasper Fingers Based on Object Contours

作　　者：黄海波[1] 毛毅 黄福强 王汝贵[1] HUANG Haibo;MAO Yi;HUANG Fuqiang;WANG Rugui(College of Mechanical Engineering,Guangxi University,Nanning 530004)

机构地区：[1]广西大学机械工程学院,南宁530004

出　　处：《机械工程学报》2025年第1期71-81,共11页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(52465001,U23A20175)。

摘　　要：GXU-grasper是一种面向易碎易变形物体的自适应抓手,其手指驱动时的传动性能是此类抓手控制策略的理论基础。基于物体轮廓对GXU-grasper手指传动性能进行分析,给出一种基于物体轮廓的自适应抓手抓取驱动方案。首先,建立抓手指节和物体轮廓间的映射模型,对影响抓手传动性能的角度参数进行分析,其次,研究影响自适应抓手手指传动机构驱动关键参数,基于虚功原理,建立多级传动机构各连杆驱动力矩和驱动角度关系,对电机驱动机构进行分析并建立电机驱动滑块移动距离和第一指节单元驱动角度的数学模型,推导出影响抓手传动机构运动的驱动力矩,然后,以抓取不规则易变形的海绵物体为例,采用数值仿真对影响手指传动性能参数进行计算,最后,通过实验验证了GXU-grasper手指传动性能分析和抓取驱动方案的合理性。研究为此类自适应抓手驱动控制方法提供一种参考。GXU-grasper is a kind of adaptive grasper for fragile and deformable objects,and its transmission performance during finger drive is the theoretical basis for the control strategy of this kind of grasper.The performance of the GXU-grasper finger drive is analyzed based on object contour to give an adaptive grasper grasping drive scheme based on object contour.First,the mapping model between grasper knuckles and object contours is established,and the angular parameters affecting the transmission performance of the grasper are analyzed.Secondly,the key parameters affecting the drive of the finger drive mechanism of the adaptive grasper are studied.Based on the principle of virtual work,establish the relationship between the driving torque and driving angle of each linkage of the multi-stage transmission mechanism.Analyze the motor drive mechanism and establish the mathematical model of the motor drive slider moving distance and the driving angle of the first knuckle unit,and derive the driving torque affecting the motion of the grasper drive mechanism.Then,taking the grasping of irregular and easily deformed sponge objects as an example,numerical simulation is used to calculate the parameters affecting the finger drive performance.Finally,the reasonableness of the GXU-grasper finger drive performance analysis and the grasping drive scheme is verified through experiments.The work provides a reference for this kind of adaptive grasper drive control method.

关 键 词：自适应抓手 物体轮廓 传动性能分析 驱动方案 无损抓取 

分 类 号：TH112[机械工程—机械设计及理论]