• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2018, Vol. 54 ›› Issue (20): 189-196.doi: 10.3901/JME.2018.20.189

• 机器人 • 上一篇    下一篇

欠驱动形状自适应气动夹具夹持稳定性

姚双吉1, 石岩2, 赵丁选3, 陆震2   

  1. 1. 燕山大学材料科学与工程博士后流动站 秦皇岛 066004;
    2. 北京航空航天大学自动化科学与电气工程学院 北京 100083;
    3. 燕山大学机械工程学院 秦皇岛 066004
  • 收稿日期:2017-12-06 修回日期:2018-04-25 出版日期:2018-10-20 发布日期:2018-10-20
  • 通讯作者: 石岩(通信作者),男,1981年出生,博士,副教授,硕士研究生导师。主要研究方向为气压传动与控制及气动技术在医学领域的应用。E-mail:shiyan@buaa.edu.cn
  • 作者简介:姚双吉,男,1981年出生,博士,副教授,高级工程师,博士后。主要研究方向为工业机器人及其应用技术。E-mail:buaayaoshuangji@163.com;赵丁选,男,1965年出生,博士,教授,博士研究生导师。主要研究方向为工程机器人技术。E-mail:zdx@ysu.edu.cn;陆震,男,1942年出生,博士,教授,博士研究生导师。主要研究方向为机器人技术、高等机构学。E-mail:zhenluh@buaa.edu.cn
  • 基金资助:
    中国博士后科学基金资助项目(2017M611184)。

Underactuated Shape Self-adaptive Pneumatic Fixture Clamping Stability

YAO Shuangji1, SHI Yan2, ZHAO Dingxuan3, LU Zhen2   

  1. 1. Postdoctoral Station of Material Science and Engineering, Yanshan University, Qinhuangdao 066004;
    2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083;
    3. College of Mechanical Engineering, Yanshan University, Qinhuangdao 066004
  • Received:2017-12-06 Revised:2018-04-25 Online:2018-10-20 Published:2018-10-20

摘要: 欠驱动夹具有一定的包络和强力抓取能力,但由于欠驱动机构的存在,夹持系统更容易因外界干扰影响其稳定性。夹持构型及欠驱动元件的设计参数对欠驱动夹具的夹持稳定性影响尚未被揭示。提出通过分析夹具夹持状态小位移与力的关系,建立欠驱动夹具动力学方程,得到欠驱动夹持接触物体的等效刚度。对被夹持物体的动力学方程建模,构造能量函数,得到判定欠驱动形状自适应包络夹持的动态接触稳定性刚度矩阵。以平面二关节对称夹持为例分析,结果表明若夹持接触点位置对称分布,接触点处的等效接触阻尼C和等效接触刚度K分别相等,则夹持系统是渐近稳定的。进一步得到:系统中每个弹簧刚度和阻尼参数满足与夹持构型相关的一定比力关系时,可以保证夹持的渐近稳定性。研究结果可以用来分析判定欠驱动夹具的稳定性条件,指导欠驱动夹具的夹持构型及参数设计,对提高欠驱动机械夹具工作安全性和可靠性有重要意义。

关键词: 夹持刚度, 夹持稳定性, 夹具, 欠驱动

Abstract: Underactuated fixture has the features of enveloping and powerful grip. On the other hand, underactuated mechanism is more easily to be disturbed by external interference. The contribution of gripped configuration and underactuated elements' parameters for gripped stability has not been revealed. The dynamic equations of an underactuated fixture are established by analysing the relationship between the gripping state and the small displacement. The equivalent stiffness of the underactuated gripped contact object is obtained, and the dynamic equation is established for gripped object. The dynamic contact stiffness matrix of the underactuated fixture is obtained by constructing the energy function. An example is used to analyse a planar two joints and symmetry gripped underactuated fixture. The asymptotically stable condition for gripped system can be described by two items:the contact point is symmetrical distribution, the equivalent contact damping C and contact stiffness K at each contact point is equal respectively. Furthermore, the asymptotic stability of the fixture can be satisfied when the stiffness and damping parameters meet the relative relation with the gripped configuration. The proposed method can be used to predicate the stability of the underactuated fixture. It can also guide the underactuated fixture design for gripped configuration and underactuated elements' parameters. The approach is significant to improve gripping safety and reliability of underactuated mechanical fixture.

Key words: clamping stability, clamping stiffness, fixture, underactuated

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