全转动关节欠驱动手指机构及其运动学分析*

doi:10.3901/JME.2017.01.047

摘要/Abstract

摘要：

欠驱动机器人手指结构紧凑、抓持力大、操作简单，在工业机器人、拟人机器人、人体假肢及航天机器人等领域都具有广泛的应用前景。提出一种新型的全转动关节连杆式欠驱动机器人手指机构，提出一种基于最小阻尼原理推导欠驱动手指机构在不同抓持状态下(即与目标物体的不同接触情况下)的等效机构，进而基于等效机构实现运动学分析的方法。采用所提出的方法推导了所提出机构的运动学方程和极限运动位置求解方程。最后通过Matlab编程进行数值仿真，验证了方法的正确性和有效性。仿真结果表明所提出的欠驱动结构具有较大的可达空间，并可实现良好的抓物轨迹。

关键词: 等效机构, 运动学分析, 欠驱动手指机构

Abstract: Underactuated finger has compact structure, large grasping force and simple operation. It has a wide application prospect in the fields of industrial robot, humanoid robot, human artificial limb and space robot. A new type of fully rotating joint linkage-based underactuated mechanism is proposed, and a new method based on the principle of minimum damping is presented to realize the equivalent mechanism of the mechanism of the different contact conditions of the finger, then to realize the kinematical analysis based on the equivalent mechanism. The kinematic equations and the limit moving position of the mechanism are derived by using the proposed method. The numerical simulation is carried out by Matlab program. The correctness and effectiveness of this method are verified. The simulation results show that the proposed mechanism has a large space and can achieve good grasp trajectory.

Key words: equivalent mechanism, kinematic analysis, underactuated finger mechanism

吴立成, 孔岩萱, 李霞丽. 全转动关节欠驱动手指机构及其运动学分析^*[J]. 机械工程学报, 2017, 53(1): 47-54.

WU Licheng, KONG Yanxuan, LI Xiali. Fully Rotational Joint Underactuated Finger Mechanism and Its Kinematics Analysis[J]. Journal of Mechanical Engineering, 2017, 53(1): 47-54.

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全转动关节欠驱动手指机构及其运动学分析^*

Fully Rotational Joint Underactuated Finger Mechanism and Its Kinematics Analysis

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