摘要
针对机器人末端执行器机械手多功能化的需求,提出了一种多模式抓取欠驱动手。该机械手基于欠驱动理论,解决了传统复合欠驱动手存在的结构复杂、控制元件多、适应能力不强等缺点。介绍了多模式抓取欠驱动机械手的结构组成和运动过程,建立了欠驱动手的数学模型;根据几何关系对机械手进行运动分析与适应性分析,并求得机械手抓取的参数范围;在不同的抓取模式下,分别对机械手进行受力分析,利用虚功原理,计算出理论输出力。虚拟样机仿真实验表明,该机械手无需安装受力传感器及复杂的控制系统,可实现平夹和包络两种抓取模式,验证了设计的可行性。
A multi-mode grab underactuated hand is proposed for the multifunctional requirements of ro⁃bot end-effector manipulator.Based on the underactuated theory,the manipulator solves the disadvantages of the traditional compound underactuated hand,such as complex structure,many control elements and weak adaptability.The structure and motion process of multi-mode grab underactuated hand are introduced,and the mathematical model of underactuated manipulator is established.According to the geometric relationship of the manipulator motion analysis and adaptability analysis,and the manipulator grab parameters range is solved.Un⁃der different grab modes,the manipulator is analyzed respectively,and the virtual work principle is used to cal⁃culate the theoretical output force.The simulation results of virtual prototype show that the manipulator does not need to install force sensor and complex control system,and it can realize two grab modes,namely,flat clip and envelope,which verifies the feasibility of the design.
作者
孙翰林
侯宇
Sun Hanlin;Hou Yu(School of Mechanical Automation,Wuhan University of Science and Technology,Wuhan 430081,China)
出处
《机械传动》
北大核心
2021年第8期90-96,共7页
Journal of Mechanical Transmission
关键词
欠驱动机械手
多模式抓取
接触力分析
虚功原理
Underactuated manipulator
Multimode grab
Contact force analysis
Virtual work principle
