本文選題：欠驅(qū)動(dòng)手指機(jī)構(gòu) + 等效機(jī)構(gòu)��； 參考：《中央民族大學(xué)》2017年碩士論文

【摘要】：靈巧手是機(jī)器人的重要組成部分。欠驅(qū)動(dòng)機(jī)構(gòu)由于驅(qū)動(dòng)器數(shù)目少于自由度,相比于全驅(qū)動(dòng)手指機(jī)構(gòu),具有控制簡單、體積小、重量輕、成本低等優(yōu)點(diǎn),還可以使手指機(jī)構(gòu)自適應(yīng)地抓取物體,這種形狀自適應(yīng)性使得手指機(jī)構(gòu)在不使用專門的控制系統(tǒng)或傳感器的情況下能夠抓取形狀不規(guī)則的或未知形狀的物體。因此欠驅(qū)動(dòng)機(jī)構(gòu)是現(xiàn)在和未來機(jī)器人手領(lǐng)域重要的研究方向。一般來說,在設(shè)計(jì)具有較大抓持力的欠驅(qū)動(dòng)機(jī)器人手指時(shí),使用連桿機(jī)構(gòu)是非常必要的。連桿式的欠驅(qū)動(dòng)機(jī)器人手指機(jī)構(gòu)可以實(shí)現(xiàn)較大的抓持力,結(jié)構(gòu)緊湊、控制簡單。但目前連桿式欠驅(qū)動(dòng)手指的設(shè)計(jì)理論研究還很缺乏,很多都還是憑直覺、仿生或根據(jù)計(jì)算機(jī)仿真結(jié)果對設(shè)計(jì)進(jìn)行試湊調(diào)整等方法來進(jìn)行。本文對提出的一種新型的全轉(zhuǎn)動(dòng)關(guān)節(jié)連桿式欠驅(qū)動(dòng)機(jī)器人手指機(jī)構(gòu)進(jìn)行了分析、設(shè)計(jì)與仿真研究。具體研究內(nèi)容如下:1.基于最小阻尼原理推導(dǎo)欠驅(qū)動(dòng)手指機(jī)構(gòu)等效機(jī)構(gòu),并應(yīng)用于一種全轉(zhuǎn)動(dòng)關(guān)節(jié)連桿式欠驅(qū)動(dòng)手指機(jī)構(gòu)(參見圖2-2),完成該機(jī)構(gòu)各種抓持狀態(tài)下的等效機(jī)構(gòu)的推導(dǎo)。2.基于推導(dǎo)得到的各階段等效機(jī)構(gòu),完成全轉(zhuǎn)動(dòng)關(guān)節(jié)連桿式欠驅(qū)動(dòng)手指機(jī)構(gòu)的運(yùn)動(dòng)學(xué)方程推導(dǎo),并給出所有運(yùn)動(dòng)方程的求解方法。在此基礎(chǔ)上完成該機(jī)構(gòu)可達(dá)空間(手指機(jī)構(gòu)最大行程決定的手指運(yùn)動(dòng)的最大空間)的分析和求解。3.基于推導(dǎo)得到的各階段等效機(jī)構(gòu),逐步完成手指機(jī)構(gòu)尺寸設(shè)計(jì)。并在給定外形尺寸的前提下,完成圖2-2所示全轉(zhuǎn)動(dòng)關(guān)節(jié)連桿式欠驅(qū)動(dòng)手指機(jī)構(gòu)的尺寸設(shè)計(jì)。4.基于所設(shè)計(jì)的全轉(zhuǎn)動(dòng)關(guān)節(jié)連桿式欠驅(qū)動(dòng)手指機(jī)構(gòu),完成其對不同形狀和大小物體的抓持運(yùn)動(dòng)過程仿真,及抓持中各指節(jié)作用力的仿真。
[Abstract]:Dexterous hands are an important part of robots. The underactuating mechanism has the advantages of simple control, small volume, light weight and low cost, compared with the full-drive finger mechanism, because the number of actuators is less than the degree of freedom, and it can also make the finger mechanism grasp objects adaptively. This shape adaptivity enables finger mechanisms to grab irregular or unknown objects without using a special control system or sensor. Therefore, underactuated mechanism is an important research direction in the field of robot hand now and in the future. In general, it is necessary to use the linkage mechanism in the design of underactuated robot fingers with large grip force. The linkage-type underactuated robot finger mechanism can achieve large gripping force, compact structure and simple control. However, the research on the design theory of the connecting rod underactuated finger is still lacking, many of which are carried out by intuition, bionics or adjustment of the design according to the results of computer simulation. This paper analyses, designs and simulates a new kind of finger mechanism of fully rotating joint linkage type underactuated robot. The specific contents of the study are as follows: 1. Based on the principle of minimum damping, the equivalent mechanism of underactuated finger mechanism is derived and applied to a fully rotating joint linkage type under-actuated finger mechanism (see Fig. 2-2) to complete the derivation of equivalent mechanism in various grasping states of the mechanism. Based on the equivalent mechanism of each stage, the kinematics equation of the fully rotating joint linkage type underactuated finger mechanism is derived, and the solving methods of all the motion equations are given. On this basis, the reachable space of the mechanism (the maximum space of finger motion determined by the maximum stroke of the finger mechanism) is analyzed and solved. Based on the equivalent mechanism of each stage, the dimension design of finger mechanism is completed step by step. On the premise of the given shape size, the dimension design of the fully rotating joint linkage type underactuated finger mechanism shown in figure 2-2 is completed. Based on the design of the fully rotating joint linkage underactuated finger mechanism, the gripping process of different shapes and sizes of the finger mechanism and the simulation of the forces acting on the knuckles in the grip are completed.
【學(xué)位授予單位】：中央民族大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：1784590