本文選題：欠驅動　切入點：機械手　出處：《哈爾濱工業(yè)大學》2017年碩士論文　論文類型：學位論文

【摘要】：人類依靠航天器實現(xiàn)對宇宙的探索。隨著科技的發(fā)展,對空間非合作航天器的捕獲工作變的越來越重要,所需的捕獲裝置要具有結構簡單、質量輕、剛度大、抓握力大等特點。欠驅動機構使用較少的驅動源能適應多種形狀的物體,滿足上述要求,被越來越多的科學家關注。本文設計一種繩輪結合驅動三指節(jié)欠驅動機械手。機械手的手指使用平行四連桿機構運動的原理,實現(xiàn)手指對多種形狀物體的自適應包絡,選取合適的手指尺寸與所需的傳感器類型,并建立三維模型。欠驅動機械手對物體的捕獲依靠兩個欠驅動手指將物體包絡實現(xiàn),手指的性質對抓握的影響很大。對欠驅動機械手的單個手指的屬性進行分析,利用機械手內部的尺寸參數(shù)關系得到機械手指的運動學特性。利用拆分桿件法分析靜力學特征,得到欠驅動機械手指各指節(jié)的輸出抓握力與輸入驅動力之間的關系。并分析了實際模型與理想模型的接觸力與位置之間的誤差及其產(chǎn)生原因。目標被穩(wěn)定抓握的前提條件為兩側手指與物體三者共同達到平衡。欠驅動手指具有自適應性,會沿目標物體輪廓發(fā)生自適應變形,最終達到穩(wěn)定姿態(tài)。目標物體通過兩側手指對其的接觸抓握力互相平衡達到穩(wěn)定。使用Matlab對機械手指和目標物體進行靜力學分析,以抓握固定尺寸的圓形物體為例,得到該情況下空間中能實現(xiàn)穩(wěn)定抓握的手指姿態(tài)與物體位置。研制機械手樣機。完成傳感器標定實驗。測量電機在不同驅動速度下,欠驅動手指的轉動速度,與計算值對比,驗證手指的運動學特性。使用單個手指包絡不同形狀的物體驗證自適應性與手指靜力學特征。使用兩根手指抓握活動物體驗證穩(wěn)定抓握求解答案。通過樣機的實驗來驗證欠驅動機械手的運動學與靜力學的分析正確性。
[Abstract]:With the development of science and technology, the capture of space non-cooperative spacecraft becomes more and more important. The underactuating mechanism uses less driving sources to adapt to various shapes of objects, meeting the above requirements. More and more scientists pay attention to it. In this paper, we design a three-knuckle underactuated manipulator, which uses parallel four-bar mechanism to realize the adaptive envelope of fingers to various shapes. Selecting the appropriate finger size and the required sensor type, and establishing a three-dimensional model. The acquisition of an object by an underactuated manipulator depends on two underactuated fingers to envelop the object. The character of finger has a great influence on grip. The properties of single finger of underactuated manipulator are analyzed, and the kinematics characteristics of mechanical finger are obtained by using the dimension parameter relation of manipulator, and the statics characteristic is analyzed by split bar method. The relationship between the output grip force and the input driving force of each knuckle of the underactuated mechanical finger is obtained. The error between the contact force and the position of the actual model and the ideal model is analyzed, and the cause of the target being stably grasped is analyzed. The prerequisite condition is that the fingers and objects on both sides reach a balance together. The underactuated fingers are self-adaptive. There will be adaptive deformation along the contour of the target object, and finally it will reach a stable attitude. The target body will achieve stability by balancing the contact grip force between the fingers on both sides of the target. The mechanical finger and the target object will be statically analyzed by using Matlab. Taking the fixed size circular object as an example, the finger attitude and the position of the object which can be grasped stably in the space are obtained. The prototype of the manipulator is developed, and the sensor calibration experiment is completed. The motor is measured at different driving speeds. The rotational speed of the underactuated finger, compared with the calculated value, Verification of finger kinematics. Verification of adaptability and finger statics using a single finger envelope of objects of different shapes. Use of two fingers to grasp a moving object to verify a stable grip solution. The kinematics and statics analysis of underactuated manipulator is verified by a test.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

【參考文獻】

相關期刊論文 前5條

1 李新剛;裴勝偉;;國外航天器在軌捕獲技術綜述[J];航天器工程;2013年01期

2 李濤;駱敏舟;時張杰;徐林森;;欠驅動仿人機器人手爪的精確捏取與包絡抓取研究[J];機械設計;2009年11期

3 樊紹巍;劉伊威;金明河;蘭天;陳兆們;劉宏;趙大威;;HIT/DLR HandⅡ類人形五指靈巧手機構的研究[J];哈爾濱工程大學學報;2009年02期

4 茅一春;朱向陽;李順沖;揚飛鴻;;一種新型欠驅動擬人機械手的設計[J];機械設計與研究;2008年03期

5 鄧傳明,于偉東;太空環(huán)境中艙外航天服的外層防護問題[J];東華大學學報(自然科學版);2004年04期

相關博士學位論文 前1條

1 黃海;新型仿人假手及其動態(tài)控制的研究[D];哈爾濱工業(yè)大學;2008年

相關碩士學位論文 前2條

1 吳楠;欠驅動索桿桁架式機械手爪設計與試驗研究[D];哈爾濱工業(yè)大學;2014年

2 向紅標;新型多指靈巧手的結構設計與性能分析[D];天津大學;2007年

，

本文編號：1633201