【摘要】：機(jī)器人作為解決全球勞動(dòng)力短缺問題的重要途徑在生產(chǎn)和生活中得到了廣泛的應(yīng)用。隨著人類對(duì)海洋、宇宙等未知空間探索的深入,紛繁的應(yīng)用標(biāo)準(zhǔn)和復(fù)雜的工作條件對(duì)機(jī)器人提出了更高的要求,單一功能的機(jī)器人再也難以適應(yīng)不斷變化的工作要求,由此仿人機(jī)器人應(yīng)運(yùn)而生。近年來,仿人機(jī)器人的發(fā)展逐步成為機(jī)器人行業(yè)的焦點(diǎn),而靈巧手作為仿人機(jī)器人系統(tǒng)的重要執(zhí)行部件,其工作性能很大程度上直接影響了仿人機(jī)器人系統(tǒng)在復(fù)雜環(huán)境下執(zhí)行各項(xiàng)任務(wù)的靈巧程度。自20世紀(jì)80年代起,國內(nèi)外眾多機(jī)構(gòu)和高校便展開了靈巧手的研制工作并取得了一定成果。本研究在總結(jié)國內(nèi)外多種靈巧手裝置優(yōu)缺點(diǎn)的基礎(chǔ)上,針對(duì)北航BH-985靈巧手的設(shè)計(jì)缺陷,從靈巧手自由度分布、單指結(jié)構(gòu)設(shè)計(jì)、指尖耦合傳動(dòng)機(jī)構(gòu)、手掌結(jié)構(gòu)擬人化分析、手腕結(jié)構(gòu)設(shè)計(jì)等多方面提出了筆者自己的設(shè)計(jì)改進(jìn)思路。本研究根據(jù)機(jī)器人多指靈巧手的抓取原理,對(duì)其手指構(gòu)造、整體布局以及如何分配自由度等方面開展研究,并通過分析普通人手的特征,對(duì)仿人多指靈巧手從深層次上開展論證以及設(shè)計(jì)。本研究通過借助SolidWorks進(jìn)一步搭建了多指靈巧手的三維模型,對(duì)靈巧手的五指結(jié)構(gòu)進(jìn)行設(shè)計(jì)與分析,創(chuàng)新設(shè)計(jì)了“S”型指尖耦合傳動(dòng)機(jī)構(gòu)以及手掌凹陷仿人型外觀,并將手腕自由度進(jìn)行并聯(lián),讓靈巧手的機(jī)械結(jié)構(gòu)更具擬人性;運(yùn)用MATLAB和ADMAS分析了靈巧手手指的運(yùn)動(dòng)空間范圍以及最大力矩并進(jìn)行了理論計(jì)算,同時(shí)還通過建模仿真來驗(yàn)證該靈巧手機(jī)械結(jié)構(gòu)的正確性以及合理性。針對(duì)電路與控制部分,本研究在系統(tǒng)的主控芯片與降壓芯片的選擇、電機(jī)驅(qū)動(dòng)選擇、直流電機(jī)的控制及調(diào)速、轉(zhuǎn)速測(cè)量、PID調(diào)節(jié)電機(jī)穩(wěn)定性以及通訊方式等方面提出自己的解決方案,旨在提高系統(tǒng)處理速度,縮小靈巧手體積,提高運(yùn)動(dòng)穩(wěn)定性并能無線操作。
[Abstract]:As an important way to solve the problem of global labor shortage, robots have been widely used in production and life. With the deep exploration of the ocean, the universe and other unknown space, the complex application standards and complex working conditions put forward higher requirements for the robot, and the single-function robot can no longer adapt to the changing requirements of the work. Thus the humanoid robot emerges as the times require. In recent years, the development of humanoid robot has gradually become the focus of robot industry, and dexterous hand is an important executive part of humanoid robot system. Its performance directly affects the dexterity of humanoid robot system to perform various tasks in complex environment. Since 1980's, many institutions and universities at home and abroad have developed dexterous hands and achieved certain results. On the basis of summarizing the advantages and disadvantages of various dexterous hand devices at home and abroad, aiming at the design defects of BH-985 dexterous hand in Beihang, this study analyzes the distribution of freedom of dexterous hand, the design of single finger structure, the coupling transmission mechanism of fingertips, and the simulation of palm structure. Wrist structure design and other aspects of the author's own design improvement ideas. According to the grasp principle of robot multi-fingered dexterous hand, the paper studies the finger structure, overall layout and how to allocate freedom, and analyzes the characteristics of ordinary hand. Human-like multi-fingered dexterous hand from the deep-level demonstration and design. In this study, the three-dimensional model of multi-finger dexterous hand was further built by SolidWorks, and the five-finger structure of dexterous hand was designed and analyzed, and the "S" finger tip coupling transmission mechanism and the humanoid appearance of palm sag were designed. And the wrist degree of freedom in parallel, so that the mechanical structure of the dexterous hand more pseudo human nature; MATLAB and ADMAS are used to analyze the range of motion space and the maximum torque of the dexterous hand finger, and the theoretical calculation is carried out. At the same time, the correctness and rationality of the mechanical structure of the dexterous hand are verified by modeling and simulation. Aiming at the circuit and control part, this paper studies the selection of the main control chip and the step-down chip, the selection of motor drive, the control and speed regulation of DC motor, and the measurement of rotational speed. In order to improve the processing speed, reduce the volume of dexterous hand, improve the stability of motion and wireless operation, PID adjusts the stability of the motor and the communication mode, and puts forward its own solution in order to improve the processing speed of the system, reduce the volume of dexterous hand.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 曹振民;陳年生;馬強(qiáng);武凌;武婧;;基于ESP8266的無線控制電路設(shè)計(jì)[J];工業(yè)控制計(jì)算機(jī);2017年01期

2 張旭;鄭澤龍;齊勇;;6自由度串聯(lián)機(jī)器人D-H模型參數(shù)辨識(shí)及標(biāo)定[J];機(jī)器人;2016年03期

3 于豐博;楊惠忠;卿兆波;;基于D-H參數(shù)法的二自由度并聯(lián)機(jī)械手逆運(yùn)動(dòng)學(xué)求解[J];制造業(yè)自動(dòng)化;2015年22期

4 陳澤存;;全驅(qū)動(dòng)機(jī)械靈巧手的動(dòng)力學(xué)分析[J];現(xiàn)代工業(yè)經(jīng)濟(jì)和信息化;2015年08期

5 林仕高;劉曉麟;歐元賢;;機(jī)械手笛卡爾空間軌跡規(guī)劃研究[J];機(jī)械設(shè)計(jì)與制造;2013年03期

6 林海波;王延兵;張毅;;基于ADAMS機(jī)械手的動(dòng)力學(xué)分析[J];制造業(yè)自動(dòng)化;2012年22期

7 鄭若隱;李繼婷;王爽;王舉;;一種外骨骼式人手康復(fù)機(jī)器人的設(shè)計(jì)[J];中國康復(fù)醫(yī)學(xué)雜志;2011年08期

8 王建平;盧杉;武歡歡;;TB6612FNG在直流電機(jī)控制設(shè)計(jì)中的應(yīng)用[J];電子設(shè)計(jì)工程;2010年06期

9 劉伊威;趙京東;;機(jī)器人靈巧手的研究與發(fā)展[J];機(jī)械傳動(dòng);2009年04期

10 孫緒才;;L298N在直流電機(jī)PWM調(diào)速系統(tǒng)中的應(yīng)用[J];濰坊學(xué)院學(xué)報(bào);2009年04期

相關(guān)碩士學(xué)位論文 前5條

1 張習(xí)燁;欠驅(qū)動(dòng)五指靈巧手機(jī)構(gòu)設(shè)計(jì)及控制系統(tǒng)研究[D];長春工業(yè)大學(xué);2014年

2 馬天陽;仿人示指靈巧手的設(shè)計(jì)研究[D];華中科技大學(xué);2009年

3 楊軍;變抓取力欠驅(qū)動(dòng)機(jī)械手控制系統(tǒng)研究[D];哈爾濱工程大學(xué);2008年

4 何川驕;變掌式欠驅(qū)動(dòng)機(jī)械手的研究與設(shè)計(jì)[D];東北大學(xué);2008年

5 侯玉玲;機(jī)器人三指靈巧手控制系統(tǒng)的研究[D];哈爾濱工程大學(xué);2004年

，

本文編號(hào)：2300232