本文選題：機(jī)器人多指手　切入點(diǎn)：手掌結(jié)構(gòu)　出處：《江南大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：目前,對(duì)于軟、嫩、脆及形狀各異的食品,機(jī)器人末端執(zhí)行器仍難以實(shí)現(xiàn)靈巧、穩(wěn)定的抓取。因此,課題組提出了“新型仿生柔性腕手”的概念,用可變形狀的手掌結(jié)構(gòu)來實(shí)現(xiàn)抓取空間大小和形狀的調(diào)整,用軟體手指來完成柔順的抓取操作。通過新型手掌結(jié)構(gòu)和軟體手指的配合,新型仿生柔性腕手能夠滿足大多數(shù)食品的抓取需求,將有效解決機(jī)器人技術(shù)難以應(yīng)用到食品行業(yè)的技術(shù)難題。本文旨在通過仿生學(xué)研究,設(shè)計(jì)一種新型機(jī)器人手掌結(jié)構(gòu),可根據(jù)抓取物體的大小和形狀適應(yīng)性改變抓取構(gòu)型,以解決機(jī)器人多指手對(duì)形狀各異的食品的抓取問題。同時(shí),采用這種新型的手掌結(jié)構(gòu)的機(jī)器人多指手,不僅具有較高靈巧度和工作空間,還能夠?qū)崿F(xiàn)較好的抓取質(zhì)量。首先,本文分析了章魚抓取過程的運(yùn)動(dòng)機(jī)理,通過將其投射到二維平面,提出了可構(gòu)成任意多邊形的廣義腕掌結(jié)構(gòu)�；趶V義腕掌結(jié)構(gòu),設(shè)計(jì)了一種新型仿生機(jī)器人手掌——可變腕掌,能根據(jù)被抓取物體的大小和形狀調(diào)整手掌形狀,將手指變位到最佳接觸點(diǎn)位置,從而實(shí)現(xiàn)較好的抓取質(zhì)量。通過構(gòu)型分析及計(jì)算實(shí)例,證明了可變腕掌能夠快速地實(shí)現(xiàn)對(duì)大小、形狀各異物體的適應(yīng)性抓取構(gòu)型。其次,根據(jù)可變腕掌的結(jié)構(gòu)方案和總體設(shè)計(jì)準(zhǔn)則,完成了可變腕掌的具體機(jī)械結(jié)構(gòu)設(shè)計(jì),包括交叉旋轉(zhuǎn)機(jī)構(gòu)和導(dǎo)向平移機(jī)構(gòu)的設(shè)計(jì)。同時(shí),完成了電機(jī)選型與多傳感器配置,并分析了可變腕掌的實(shí)際工作空間,可滿足大多數(shù)食品的外形尺寸要求。通過可變腕掌的構(gòu)型仿真,證明其具體結(jié)構(gòu)同樣具有對(duì)不同大小和形狀物體的適應(yīng)性構(gòu)型能力;并設(shè)計(jì)了一種以可變腕掌為手掌結(jié)構(gòu)的新型仿生機(jī)器人多指手,完成了典型物體的抓取仿真實(shí)驗(yàn)。然后,建立了腕掌多指手的抓取模型,并根據(jù)力平衡方程,推導(dǎo)了腕掌多指手實(shí)現(xiàn)力封閉抓取的必要條件。基于可變腕掌的具體結(jié)構(gòu),提出了一種形狀構(gòu)型規(guī)劃方法,包括接觸點(diǎn)位置規(guī)劃算法和基本形狀確定,確定了交叉角的大小及各手指安裝中心與手掌中心的基本距離。以實(shí)現(xiàn)較高的操作靈活度為規(guī)劃目標(biāo),提出了一種大小構(gòu)型規(guī)劃方法,確定了各手指的安裝中心與手掌中心的最佳距離。最后,通過抓取實(shí)例驗(yàn)證了可變腕掌構(gòu)型規(guī)劃的有效性。
[Abstract]:At present, for soft, tender, brittle and various shapes of food, the robot end actuator is still difficult to achieve dexterous and stable grasp. Therefore, the team put forward the concept of "new bionic flexible wrist hand". The size and shape of the grab space is adjusted with the palm structure with variable shape, and the soft finger is used to complete the smooth grasping operation. Through the cooperation of the new palm structure and the soft finger, The new bionic flexible wrist hand can meet the demand of most food grab, which will effectively solve the problem that robot technology is difficult to be applied to food industry. This paper aims to design a new robot palm structure through biomimetic research. The grasping configuration can be changed according to the size and shape of the grab object, so as to solve the problem of robot multi-fingered hand grabbing food with different shapes. At the same time, the robot multi-fingered hand with this new type of palm structure can be changed. It not only has high dexterity and workspace, but also can achieve better grasping quality. Firstly, this paper analyzes the motion mechanism of octopus grabbing process and projects it to two-dimensional plane. Based on the generalized carpal palmar structure, a new bionic robot palm-variable wrist palm is designed, which can adjust the shape of the palm according to the size and shape of the grabbed object. The finger is shifted to the best point of contact to achieve better grasping quality. Through configuration analysis and calculation examples, it is proved that the variable wrist palm can quickly realize the adaptive grasping configuration of objects of different sizes and shapes. According to the structure scheme and general design criterion of variable wrist palm, the specific mechanical structure design of variable wrist palm is completed, including the design of cross rotating mechanism and guiding translation mechanism, at the same time, the selection of motor and the configuration of multi-sensor are completed. The actual workspace of the variable wrist palm is analyzed, which can meet the requirements of the shape and size of most foods. Through the simulation of the configuration of the variable wrist palm, it is proved that its specific structure also has the adaptability to different sizes and shapes of objects. A new bionic robot multi-fingered hand with variable wrist palm structure is designed, and the simulation experiment of grab of typical object is completed. Then, the grasping model of multi-finger hand is established, and according to the equation of force balance, the grasp model of multi-finger hand is established. In this paper, the necessary conditions for force closed grasp of multi-fingered hand are derived. Based on the specific structure of variable wrist palm, a shape configuration planning method is proposed, which includes the contact point location planning algorithm and the basic shape determination. The size of the cross angle and the basic distance between the center of each finger and the center of the palm are determined. In order to achieve higher operational flexibility as the planning objective, a method of size configuration planning is proposed. The optimal distance between the center of each finger and the center of the palm is determined. Finally, the effectiveness of the configuration planning of the variable wrist palm is verified by grab examples.
【學(xué)位授予單位】：江南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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