本文選題：強(qiáng)力抓取 + 仿人四指靈巧手　； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：靈巧手抓取較重的對象,特別是以包絡(luò)的方式進(jìn)行抓取時,手指各指節(jié)與物體的接觸信息不明確,并且抓取同一物體時不同的抓取點(diǎn)所需的抓取力也不相同。靈巧手自由度越多、機(jī)構(gòu)越復(fù)雜,剛度就會越差,承載能力就越弱。因此對于靈巧手的研究大多關(guān)注其操作的靈巧性,而沒有進(jìn)行強(qiáng)力抓取的研究,因此沒有考慮其承載能力的問題。本課題是面向強(qiáng)力抓取的仿人四指靈巧手設(shè)計(jì)與分析,考慮其抓取能力,將驅(qū)動電機(jī)集成在手臂上,驅(qū)動電機(jī)尺寸不受到手指或者手掌尺寸的限制,大大增加了靈巧手的驅(qū)動能力。在驅(qū)動能力滿足的前提下,考慮靈巧手手指的結(jié)構(gòu),手指基關(guān)節(jié)采用兩個電機(jī)驅(qū)動錐齒輪以差動的形式實(shí)現(xiàn)俯仰和側(cè)偏兩個自由度,在運(yùn)動與人手相似的同時可以提供2倍的抓取力。手指中端關(guān)節(jié)和末端關(guān)節(jié)參照人手運(yùn)動特點(diǎn),將其設(shè)計(jì)為“∞”字鋼絲耦合機(jī)構(gòu),實(shí)現(xiàn)1:1精確傳動。設(shè)計(jì)關(guān)節(jié)力矩傳感器檢測關(guān)節(jié)力矩,再結(jié)合關(guān)節(jié)位置傳感器,可以得到手指的接觸力信息。對靈巧手進(jìn)行運(yùn)動學(xué)分析和動力學(xué)分析,為后續(xù)靈巧手的抓取仿真奠定理論基礎(chǔ),在ADAMS中給定手指各關(guān)節(jié)運(yùn)動角度,進(jìn)行單手指動力學(xué)仿真,與動力學(xué)推導(dǎo)進(jìn)行對比。再對靈巧手抓取5kg圓柱進(jìn)行靜力學(xué)分析,抓取方式為包絡(luò),用優(yōu)化算法得到穩(wěn)定抓取時手指的關(guān)節(jié)轉(zhuǎn)角,指節(jié)與圓柱的接觸點(diǎn)和接觸力信息,再根據(jù)力矩平衡得到各關(guān)節(jié)的驅(qū)動力矩,根據(jù)計(jì)算所得的驅(qū)動力矩,選擇合適的驅(qū)動電機(jī)。在ADAMS中給靈巧手各關(guān)節(jié)施加驅(qū)動力矩,進(jìn)行強(qiáng)力抓取仿真,靈巧手可以穩(wěn)定抓取物體證明所選電機(jī)的合理性,基于力/位混合控制進(jìn)行ADAMSSIMULINK聯(lián)合抓取仿真,得到穩(wěn)定抓取時各個關(guān)節(jié)的轉(zhuǎn)角、接觸點(diǎn)位置和接觸力信息。根據(jù)聯(lián)合仿真得到的接觸信息,施加到有限元模型,利用有限元軟件分析靈巧手抓取5kg物體時,滿足強(qiáng)度和剛度要求,在此基礎(chǔ)上,在滿足電機(jī)驅(qū)動能力的前提下,得到靈巧手最大可抓取7.5kg的物體。對靈巧手進(jìn)行模態(tài)分析和諧響應(yīng)分析,得到靈巧手的固有頻率,據(jù)此選擇靈巧手的最佳工作頻率。
[Abstract]:When a skillful hand grabs a heavy object, especially in the way of envelop, the contact information between each knuckle and object is not clear, and the grasping force required for different grab points of the same object is also different. The greater the degree of freedom, the more complex the mechanism, the worse the stiffness and the weaker the bearing capacity. Therefore, most of the researches on dexterous hand focus on the dexterity of its operation, but not on the study of strong grabbing, so it does not consider the bearing capacity of dexterous hand. This subject is the design and analysis of humanoid four-finger dexterous hand which is oriented to strong grasp. Considering its grasping ability, the driving motor is integrated on the arm, and the size of the driving motor is not limited by the size of finger or palm. Greatly increases the dexterous hand drive ability. Considering the structure of the dexterous finger, the base joint of the finger is driven by two motors to drive the bevel gear in the form of differential motion to achieve two degrees of freedom of pitch and sideslip. The movement is similar to that of the hand and can provide twice as much grip. Referring to the characteristics of manual movement, the middle end joint of finger and the end joint are designed as "鈭，

本文編號：1837145