摘要
给出两种模块化欠驱动手指的优化设计方法,分析了采用曲柄滑块以及四连杆机构可实现欠驱动,并减少驱动电动机数。采用D-H参数法建立手指运动学模型,并对模型采用正运动学求解。借助于ADAMS仿真软件对机械手建模并进行运动学仿真,研究并分析了欠驱动手爪在不同抓取模式下的运动特性及抓取能力,验证了欠驱动手爪抓取的多样性。最后,在精确建立运动学模型的前提下,以中心滑盘连接手指处所受应力最小为目标,对基指节内推杆的长度及摆动的角度进行参数优化,有效地增强了欠驱动手爪抓取的实用性和可靠性。
Two optimization design methods for modular under-actuated fingers are given.It is analyzed that the use of crank slider and four-bar linkage can realize under-actuation and reduce the number of driving motors.The D-H parameter method is used to establish the finger kinematic model,and the model is solved by positive kinematics.With the aid of ADAMS software,the kinematic simulation of the modeled manipulator is carried out.The kinematic characteristics and grasping capability of the under-actuated gripper in different grasping modes are studied and analyzed,and the diversity of the under-actuated gripper is verified.Finally,under the premise of accurately establishing the kinematic model,the parameters of length and swing angle of the internal push rod of the base knuckle are optimized with the goal of minimizing the stress on the finger connected to the central sliding plate,which effectively enhances the practicality and reliability of the under-actuated gripper.
作者
雷翔鹏
刘业峰
LEI Xiang-peng;LIU Ye-feng(Liaoning Key Laboratory of Information Physics Fusion and Intelligent Manufacturing of CNC Machine,School of Mechanical Engineering and Automation,Shenyang Institute of Technology,Shenfu Reform and Innovation Demonstration Zone 113122,China)
出处
《控制工程》
CSCD
北大核心
2022年第4期730-737,共8页
Control Engineering of China
基金
国家自然科学基金资助项目(62073226)
辽宁省自然科学基金重点领域联合开放基金资助项目(2020-KF-11-09)
沈抚示范区本级科技计划项目(2020JH13)
辽宁省中央引导地方科技发展资金资助项目(2021JH6/10500137)。
关键词
欠驱动
多指手爪
模块化手指
抓取分析
优化设计
Under-actuated
multi-finger gripper
modular finger
grasping analysis
optimization design
