• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (1): 47-54.doi: 10.3901/JME.2017.01.047

• 机构学及机器人 • 上一篇    下一篇

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全转动关节欠驱动手指机构及其运动学分析*

吴立成, 孔岩萱, 李霞丽   

  1. 中央民族大学信息工程学院 北京 100081
  • 出版日期:2017-01-05 发布日期:2017-01-05
  • 作者简介:吴立成(通信作者),男,1972年出生,博士后,教授。主要研究方向为智能机器人和智能系统。E-mail:wulicheng@tsinghua.edu.cn
  • 基金资助:
    * 国家自然科学基金(51375504, 61602539)、教育部新世纪优秀人才支持计划(NCET-12-0580)和一流大学与一流学科建设过渡性经费专项资金资助项目; 20160302收到初稿,20160927收到修改稿;

Fully Rotational Joint Underactuated Finger Mechanism and Its Kinematics Analysis

WU Licheng, KONG Yanxuan, LI Xiali   

  1. School of Information Engineering, Minzu University of China, Beijing 100081
  • Online:2017-01-05 Published:2017-01-05

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