【摘要】：近年來,隨著社會(huì)和科技的不斷進(jìn)步,機(jī)器人技術(shù)在人們生產(chǎn)生活中得到了越來越多的關(guān)注與應(yīng)用�；跉鈩�(dòng)柔性關(guān)節(jié)的機(jī)械手具有柔性高、自適應(yīng)性強(qiáng)和安全無污染等特點(diǎn),在服務(wù)、醫(yī)療和工業(yè)機(jī)器人等領(lǐng)域,具有廣闊的應(yīng)用前景。氣動(dòng)柔性關(guān)節(jié)五指機(jī)械手的工作原理是控制通入各關(guān)節(jié)手指的氣壓實(shí)現(xiàn)彎曲變形,完成抓握動(dòng)作。研制目的是使其具有人手的外形與功能,實(shí)現(xiàn)對(duì)不同物體的抓取操作,并具有良好的適應(yīng)性。為了提高五指機(jī)械手的柔順性和靈活性,在前人研究的基礎(chǔ)上,本文開發(fā)了雙驅(qū)單向彎曲關(guān)節(jié)和單維雙向彎曲關(guān)節(jié),該類關(guān)節(jié)是關(guān)節(jié)本體與驅(qū)動(dòng)裝置復(fù)合一體的單自由度彈性體。建立了單向彎曲關(guān)節(jié)的彎曲變形理論模型和柔性關(guān)節(jié)夾持力理論模型,并通過實(shí)驗(yàn)對(duì)其進(jìn)行了驗(yàn)證。從仿生學(xué)角度出發(fā),利用四種柔性關(guān)節(jié)研制了一種柔性關(guān)節(jié)五指機(jī)械手。該機(jī)械手外形與人手類似,大小約為人手的1.5倍,整體質(zhì)量為725g,具有5個(gè)手指,每個(gè)手指由兩個(gè)柔性關(guān)節(jié)組成,共10個(gè)自由度,4個(gè)機(jī)動(dòng)度。機(jī)械手各手指相互配合,能夠?qū)崿F(xiàn)抓、握、捏、夾和彈等類似人手的功能,可以適應(yīng)直徑小于207mm的柱體、球體、三角形和不規(guī)則物體等,最大抓取物體質(zhì)量為1.5kg。利用動(dòng)力學(xué)實(shí)驗(yàn)裝置對(duì)機(jī)械手各手指進(jìn)行動(dòng)力學(xué)實(shí)驗(yàn),得到了各柔性手指不同驅(qū)動(dòng)方式下的斜坡信號(hào)響應(yīng)特性。安裝了加速度計(jì)、陀螺儀和觸力傳感器,與控制器形成閉環(huán)控制,確保機(jī)械手手指位姿控制和力控制的精確性和可靠性。搭建了機(jī)械手控制系統(tǒng),利用該系統(tǒng)對(duì)機(jī)械手進(jìn)行了運(yùn)動(dòng)姿態(tài)和抓取物體實(shí)驗(yàn),驗(yàn)證五指機(jī)械手的功能性。本文所研制的柔性關(guān)節(jié)五指機(jī)械手具有較好的柔順性和靈活性,能夠?qū)崿F(xiàn)人手的大部分功能,為柔性關(guān)節(jié)機(jī)械手的開發(fā)與應(yīng)用打下了基礎(chǔ)。
[Abstract]:In recent years, with the development of society and science and technology, robot technology has gained more and more attention and application in people's production and life. The manipulator based on pneumatic flexible joints has the characteristics of high flexibility, strong self-adaptability and safe and pollution-free. It has broad application prospects in the fields of service, medical treatment and industrial robot. The working principle of pneumatic flexible joint five-finger manipulator is to control the air pressure into each joint to achieve bending and deformation, and to complete the grip action. The purpose of this paper is to make it have the shape and function of human hand, realize the grabbing operation of different objects, and have good adaptability. In order to improve the flexibility and flexibility of the five-fingered manipulator, on the basis of previous studies, the two-drive unidirectional bending joint and one-dimensional bi-directional bending joint are developed in this paper. This kind of joint is a single-degree-of-freedom elastic body which is composed of joint body and driving device. The bending deformation model of unidirectional bending joint and the theoretical model of clamping force of flexible joint are established and verified by experiments. From the point of view of bionics, a five-finger manipulator with flexible joints was developed by using four kinds of flexible joints. The shape of the manipulator is similar to that of the human hand. The size of the manipulator is about 1.5 times that of the human hand, and the overall mass is 725g. The manipulator has five fingers, each of which is composed of two flexible joints with a total of 10 degrees of freedom and four degrees of mobility. The fingers of the manipulator cooperate with each other to achieve the functions of grasping, gripping, pinching, clamping and projecting, etc., and can be adapted to columns, spheres, triangles and irregular objects with diameters smaller than 207mm. The maximum mass of grab objects is 1.5 kg 路kg ~ (- 1). The dynamic experiment of each finger of the manipulator is carried out by means of the dynamic experiment device, and the response characteristics of the slope signal under different driving modes of each flexible finger are obtained. Accelerometers, gyroscopes and contact sensors are installed to form a closed-loop control with the controller to ensure the accuracy and reliability of the manipulator's finger position and position control and force control. The manipulator control system is built, and the motion attitude and object grabbing experiments are carried out to verify the function of the five-fingered manipulator. The flexible joint five-finger manipulator developed in this paper has good flexibility and flexibility, and can realize most of the functions of the hand, which lays a foundation for the development and application of the flexible joint manipulator.
【學(xué)位授予單位】：北華大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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