發(fā)布時(shí)間：2018-06-03 00:40

  本文選題：少自由度并聯(lián)機(jī)構(gòu) + 多指手��； 參考：《燕山大學(xué)》2014年碩士論文

【摘要】：少自由度的并聯(lián)機(jī)構(gòu)有著廣泛的應(yīng)用前景，并逐漸成為并聯(lián)機(jī)構(gòu)領(lǐng)域內(nèi)的研究熱點(diǎn)。多指手相對于常規(guī)的末端執(zhí)行器來說，具有靈活性高、微小位姿易調(diào)整、抓取方式多樣化，結(jié)合并聯(lián)機(jī)構(gòu)和多指手機(jī)構(gòu)的優(yōu)點(diǎn)對多手足并聯(lián)機(jī)器人開展研究設(shè)計(jì)，并對多指手在抓取過程中的協(xié)調(diào)作用理論進(jìn)行了系統(tǒng)的研究。 本文結(jié)合研究的需要以及實(shí)際應(yīng)用，確定主體構(gòu)型為串并聯(lián)機(jī)構(gòu)。設(shè)計(jì)了基于五自由度并聯(lián)機(jī)構(gòu)的三指混聯(lián)手機(jī)構(gòu)，該機(jī)構(gòu)由兩部分組成：4SPS+SPR并聯(lián)機(jī)構(gòu)和多指手機(jī)構(gòu)。在4SPS+SPR并聯(lián)機(jī)構(gòu)的動(dòng)平臺上布置3個(gè)單自由度的手指機(jī)構(gòu)，對手指上參考點(diǎn)的位置解，并聯(lián)機(jī)構(gòu)和手指機(jī)構(gòu)的工作空間、運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)以及三指抓取物體過程中的協(xié)調(diào)作用理論進(jìn)行了系統(tǒng)的分析。 根據(jù)并聯(lián)機(jī)構(gòu)的結(jié)構(gòu)特點(diǎn)，運(yùn)用矢量法建立了并聯(lián)機(jī)構(gòu)的位置反解模型以及手指機(jī)構(gòu)的位置正解模型。4SPS+SPR是3轉(zhuǎn)2移型的5自由度并聯(lián)機(jī)構(gòu)，，根據(jù)CAD變量幾何法求解并聯(lián)機(jī)構(gòu)和手指機(jī)構(gòu)的可達(dá)工作空間。結(jié)合手指機(jī)構(gòu)和并聯(lián)機(jī)構(gòu)之間運(yùn)動(dòng)關(guān)系，建立了手指機(jī)構(gòu)中參考點(diǎn)的運(yùn)動(dòng)學(xué)速度、加速度模型。 動(dòng)力學(xué)模型是將指尖上外載荷和各運(yùn)動(dòng)構(gòu)件的運(yùn)動(dòng)規(guī)律、慣性力/矩、驅(qū)動(dòng)桿件的驅(qū)動(dòng)力聯(lián)系起來，是力/矩和位置、速度、加速度的結(jié)合。根據(jù)虛功原理建立了基于五自由度并聯(lián)機(jī)構(gòu)的三指混聯(lián)手機(jī)構(gòu)的靜力學(xué)和動(dòng)力學(xué)模型。 以三指抓取物體為例，建立了手指在抓取和操作物體的過程中，物體和手指機(jī)構(gòu)以及4SPS+SPR并聯(lián)機(jī)構(gòu)之間的協(xié)調(diào)運(yùn)動(dòng)學(xué)模型、抓取過程中物體穩(wěn)定性的判斷以及手指和物體之間接觸力的求解和優(yōu)化。
[Abstract]:The small degree of freedom parallel mechanism has a wide application prospect, and has gradually become the research hotspot in the field of parallel mechanism. Compared with the conventional end actuators, the multi-fingered hand has the advantages of high flexibility, easy adjustment of the micro-position and pose, and diversified grasping methods. The research and design of the multi-handed parallel robot are carried out in combination with the advantages of the parallel mechanism and the multi-fingered mechanism. The coordination theory of multi-fingered hand in grabbing process is studied systematically. According to the needs of the research and the practical application, the main body configuration is determined to be series-parallel mechanism. A three-finger hybrid mechanism based on a 5-DOF parallel mechanism is designed. The mechanism is composed of two parts: a: 4SPS SPR parallel mechanism and a multi-finger mobile phone. Three single-degree-of-freedom finger mechanisms are arranged on the moving platform of the 4SPS SPR parallel mechanism. The position solutions of the reference point on the finger, the workspace of the parallel mechanism and the finger mechanism, the kinematics of the parallel mechanism and the finger mechanism are analyzed. Dynamics and coordination theory in the process of three-finger capture are systematically analyzed. According to the structural characteristics of the parallel mechanism, the position inverse solution model of the parallel mechanism and the position forward solution model of the finger mechanism. 4SPS SPR is a 5 DOF parallel mechanism with 3 turns and 2 shifts. The reachable workspace of parallel mechanism and finger mechanism is solved by CAD variable geometry method. Based on the kinematic relationship between finger mechanism and parallel mechanism, the kinematic velocity and acceleration model of reference point in finger mechanism is established. The dynamic model is the combination of force / moment, position, velocity and acceleration, which connects the external load on the finger tip with the moving law of each moving member, the inertial force / moment, and the driving force of the driving member. Based on the principle of virtual work, a statics and dynamics model of a three-finger hybrid mechanism based on a 5-DOF parallel mechanism is established. Taking the three-finger grasping object as an example, a coordinate kinematic model between the object, the finger mechanism and the 4SPS SPR parallel mechanism in the process of grasping and manipulating the object is established. The stability of the object and the solution and optimization of the contact force between the fingers and the object are discussed.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP242;TH112

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本文編號：1970796