摘要
为解决机器人自动装配、医学康复断指再造等多接触抓取装置驱动元件多,结构复杂且笨重的问题,设计了一种灵巧节能的单自由度仿真机械手的驱动机构,推导了各指节间的运动关系方程,利用ADAMS建立了其参数化仿真模型,分析了特定构件尺寸的机构运动轨迹与人手抓取轨迹的差距,进而提出满足人手抓取轨迹、驱动力矩小、各构件尺寸小的驱动机构的优化数学模型,经NSGA-II算法获得与人手抓取轨迹相差无几的多个最优方案,并用参数化模型进行了验证。设计结果表明,所提出的驱动机构仅需一个驱动元件即能实现手指各关节的灵巧运动,且结构尺寸小,满足节能环保的要求,是仿真机械手设计的新尝试。
A kind of driving mechanism of skillful energy saving single degree of freedom simulation manipulator is designed to solve the problem of driving element more, structure complex and bulky of multi--touch capture device, such as robotic assembly and medical finger recycling. The equation of motion relation between knuckles is deduced, the parametric simulation model is established by using ADAMS. The difference between mechanism motion trajectory of specific component size and hand grab trajectory is analyzed, and the optimal mathematical model meeting hand grab trajectory, smallest driving torque and smallest component length is presented. Several optimal schemes, which are somewhat like hand grab trajectory are obtained by using NSGA--II algorithm and it is verified by parametric simulation model. The design solutions show that, the skillful motion among knuckles of proposed driving mechanism can be easily completed through a driving element. Thus, the size of the mechanism is not only smaller, but also energy saving and environment protection. It is a new method in simulation manipulator design.
出处
《机械传动》
CSCD
北大核心
2014年第6期48-52,共5页
Journal of Mechanical Transmission
基金
国家自然科学基金(51105258)
住房与城乡建设部科研项目(2011-k8-7)
关键词
单自由度
仿真机械手
连杆机构
ADAMS仿真
多目标优化设计
Single degree of freedom Simulation manipulator Linkage mechanism ADAMS simulation Multi--objective optimal design
