混合工作模式欠驱动手设计及其接触力分析

doi:10.3901/JME.2021.01.008

机械工程学报 ›› 2021, Vol. 57 ›› Issue (1): 8-18.doi: 10.3901/JME.2021.01.008

扫码分享

混合工作模式欠驱动手设计及其接触力分析

李小彭, 郭军强, 孙万琪, 尚东阳, 闻邦椿

东北大学机械工程与自动化学院沈阳 110819

收稿日期:2019-11-29 修回日期:2020-03-23 出版日期:2021-01-05 发布日期:2021-02-06
作者简介:李小彭,男,博士,1976年出生,教授,博士研究生导师。主要研究方向为机械振动与动力学、机械综合设计理论方法及应用、结合面振动摩擦耦合动力学。E-mail:xpli@me.neu.edu.cn
基金资助:
国家自然科学基金（51875092）和中央高校基本科研业务专项资金（N170302001）资助项目。

Design and Contact Force Analysis of Under-actuated Manipulator with Hybrid Working Mode

LI Xiaopeng, GUO Junqiang, SUN Wanqi, SHANG Dongyang, WEN Bangchun

School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819

Received:2019-11-29 Revised:2020-03-23 Online:2021-01-05 Published:2021-02-06

摘要/Abstract

摘要： 机器人手目前主要应用于机器人与环境的交互。传统欠驱动机器人手的手指末端运动轨迹并不是一条直线，这种运动轨迹使得它们无法抓取桌面上较薄的物体以及小物体。为了克服这个缺陷，许多研究者在欠驱动手结构中加入了直线机构，使其能够捏取平台上的物体，但目前存在的结构均为双指关节结构，相对于三关节手指其抓取范围较小且适用场合较少。为了解决以上问题，设计了一种新型的基于变胞原理的欠驱动手。手指具有三个指关节，它拥有两种工作模式：线性平行捏取模式和自适应抓取模式。在线性平行捏取模式下，该欠驱动手指可视为双关节手指，拥有更好的稳定性；在自适应抓取模式下，该欠驱动手指可视为三关节手指，拥有更大的工作空间且能更好地抓取不规则物体。该机构可以根据目标物体的尺寸、位置和形状特征自适应的改变工作模式。对欠驱动手的手指部分进行运动学分析以及接触力的分析，为设计提供理论参考。制作样机进行抓取试验，试验结果表明，该手拥有较大的适用范围并具有良好的抓取性能。

关键词: 变胞机构, 机械手, 欠驱动, 运动学, 接触力

Abstract: At present, robot hand is mainly used in the interaction between robot and environment. The finger end trajectory of the traditional underactuated robot hand is not a straight line, which makes it impossible for them to grasp the thinner objects and small objects on the desktop. In order to overcome this defect, many researchers add a straight-line mechanism to the underactuated hand structure, so that it can grasp the objects on the platform. However, the existing structures are all structures with two knuckles, which have smaller grasping range and less application occasions compared with the structures with three knuckles. In order to solve the above problems, a new type of under drive operation based on the theory of metamorphic principle is designed. The finger has three knuckles. It has two working modes: linear parallel pinching mode and adaptive grasping mode. In the linear parallel pinching mode, the underactuated finger can be regarded as a two joints finger with better stability; in the adaptive grasping mode, the underactuated finger can be regarded as a three joints finger with larger working space and better ability to grasp irregular objects. The mechanism can adaptively change the working mode according to the size, position and shape characteristics of the object. In order to provide theoretical reference for design, kinematic analysis and contact force analysis are carried out on the finger part of under-actuated manipulator. The experimental results show that the hand has a wide range of application and good grasping performance.

Key words: metamorphic principle, manipulator, under-actuated, kinematic, contact force

中图分类号:

TH112

李小彭, 郭军强, 孙万琪, 尚东阳, 闻邦椿. 混合工作模式欠驱动手设计及其接触力分析[J]. 机械工程学报, 2021, 57(1): 8-18.

LI Xiaopeng, GUO Junqiang, SUN Wanqi, SHANG Dongyang, WEN Bangchun. Design and Contact Force Analysis of Under-actuated Manipulator with Hybrid Working Mode[J]. Journal of Mechanical Engineering, 2021, 57(1): 8-18.

参考文献

[1] 张文增,马献德,黄源文,等. 末端强力抓取的欠驱动拟人机器人手[J]. 清华大学学报,2009,49(2):194-197. ZHANG Wenzeng,MA Xiande,HUANG Yuanwen,et al. Under-actuated humanoid robot hand with end power grasping[J]. Tsinghua Science and Technology,2009,49(2):194-197.
[2] LOVCHIK C S,DIFLER M A. The robonaut hand:A dextrous robotic hand for space[C]//Proceedings of the IEEE International Conference on Robotics and Automation,May 10-15,1999,Detroit,Michigan. United States:IEEE,1999:907-912.
[3] KAWASAKI H,KOMATSU T,UCHIYAMA K. Dexterous anthropomorphic robot hand with distributed tactile sensor:Gifu Hand Ⅱ[J]. IEEE/ASME Transactions on Mechatronics,2002,7(3):296-303.
[4] ZHOU Jianshu,YI Juan,CHEN Xiaojiao,et al. BCL-13:A 13-DOF soft robotic hand for dexterous grasping and in-hand manipulation[J]. IEEE Robotics and Automation Letters,2018:3379-3386.
[5] 张文增,陈强,孙振国,等. 具有形状自适应的欠驱动拟人机器人手指[J]. 机械工程学报,2004,40(10):115-118. ZHANG Wenzeng,CHEN Qiang,SUN Zhenguo,et al. Underactuated robotic fingers with shape adaptation[J]. Journal of Mechanical Engineering,2004,40(10):115-118.
[6] DOLLAR A M,HOWE R D. The highly adaptive SDM hand:Design and performance evaluation[J]. The International Journal of Robotics Research,2010,29(5):585-597.
[7] 张文增,陈强,孙振国,等. 变抓取力的欠驱动拟人机器人手[J]. 清华大学学报,2003,43(8):1143-1147. ZHANG Wenzeng,CHEN Qiang,SUN Zhenguo,et al. Under-actuated humanoid robot hand with changeable grasping force[J]. Journal of Tsinghua University,2003,43(8):1143-1147.
[8] ZHANG Wenzeng,CHEN Qiang,SUN Zhenguo,et al. Passive adaptive grasp multi-fingered humanoid robot hand with high under-actuated function[C]//2004 IEEE International Conference on Robotics and Automation,April 2004,New Orleans,LA:IEEE,2004:2216-2221.
[9] BEGOC V,KRUT S,DOMBRE E,et al. Mechanical design of a new pneumatically driven underactuated hand[C]//2007 IEEE International Conference on Robotics and Automation,April 10-14,2007,Roma,Italy:IEEE,2007:927-933.
[10] GOSSELIN C. Adaptive robotic mechanical systems:A design paradigm[J]. Journal of Mechanical Design,2006,128(1):192-198.
[11] BIRGLEN L,GOSSELIN C M.On the force capability of underactuated fingers[C]//Proceedings of the 2003 IEEE International Conference on Robotics and Automation,Taipei,Taiwan,China,2003:1139-1145.
[12] BIRGLEN L,GOSSELIN C M. Grasp-state plane analysis of two-phalanx underactuated fingers[J]. Mechanism & Machine Theory,2006,41(7):807-822.
[13] DECHEV N,CLEGHORN W L.Multiple finger,passive adaptive grasp prosthetic hand[J].Mechanism and Machine Theory,2001,36(10):1157-1173.
[14] 刘菲,何广平,陆震. 弹性欠驱动四指灵巧手设计与试验[J]. 机械工程学报,2014,50(15):53-59. LIU Fei,HE Guangping,LU Zhen. Research and design of a novel tendon driven underactuated multi-fingered hand[J]. Journal of Mechanical Engineering,2014,50(15):53-59.
[15] 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.
[16] LUO Chao,ZHANG Wenzeng. VGS hand:A novel hybrid grasping modes robot hand with variable geometrical structure[J]. Applied Scienses,2019,9(8):1-14.

混合工作模式欠驱动手设计及其接触力分析

Design and Contact Force Analysis of Under-actuated Manipulator with Hybrid Working Mode

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	杨晓航, 赵智远, 李云涛, 徐梓淳, 赵京东. 基于可操作度优化的冗余机械臂逆运动学求解方法[J]. 机械工程学报, 2024, 60(7): 22-33.
[2]	畅博彦, 韩芳孝, 周杨, 金国光. 面向精梳任务的高速变胞机构冲击动力学研究[J]. 机械工程学报, 2024, 60(7): 54-65.
[3]	赵智远, 杨晓航, 徐梓淳, 李云涛, 汤家文, 赵京东. 新型SSRMS构型可重构空间机械臂的运动学奇异性分析[J]. 机械工程学报, 2024, 60(5): 19-35.
[4]	张雷雨, 常雅威, 俞振东, 于洋, 李剑锋, 张斐然. 并联腕康复机器人的设计与运动学性能评价[J]. 机械工程学报, 2024, 60(17): 123-132.
[5]	雷飞, 刘思宇, 廖峻北, 郭朝, 王志瑞, 闫曈, 党睿娜, 苏波. 大负载作用下绳驱连续型机器人静力学建模分析[J]. 机械工程学报, 2024, 60(15): 28-37.
[6]	石建平, 徐永驰, 古训, 陈冬云. 面向冗余机械臂逆运动学问题的人工蜂群算法改进[J]. 机械工程学报, 2024, 60(15): 60-70.
[7]	胡波, 高添, 胡国烽, 李涛, 赵金君. 一种无传统防扭力臂的直升机旋翼操纵机构位置解分析[J]. 机械工程学报, 2024, 60(15): 71-79.
[8]	王敏, 孙景健, 丁基恒, 孙翊, 彭艳, 蒲华燕, 罗均, 谢少荣. 基于D-H参数与拉格朗日联立方程的仿生水蛇机器人运动学分析及动力学建模[J]. 机械工程学报, 2024, 60(15): 134-148.
[9]	于金须, 闫建华, 肖俊明, 李永泉, 谢平, 张立杰. 基于医工结合的指关节运动学模型建立与验证[J]. 机械工程学报, 2024, 60(15): 149-159.
[10]	赵宏跃, 史创, 郭宏伟, 刘荣强. 空间大型可展开环形张拉机构动力学特性分析[J]. 机械工程学报, 2024, 60(12): 344-354.
[11]	徐文琳, 彭羽, 何智成, 姜潮. 复杂路径规划的机构分区运动学拓扑构型设计[J]. 机械工程学报, 2024, 60(11): 62-73.
[12]	田宇, 王洪波, 刘颖, 杜家正, 牛建业. 一种食指康复外骨骼机器人设计与分析[J]. 机械工程学报, 2023, 59(9): 40-50.
[13]	赵京, 周振勇, 张自强. 冗余度机械臂的自运动流形计算及关节轨迹规划[J]. 机械工程学报, 2023, 59(5): 77-88.
[14]	王汝贵, 董奕辰, 陈辉庆. 一种变胞式工业机器人时间最优轨迹规划[J]. 机械工程学报, 2023, 59(5): 100-111.
[15]	李照童, 杨玉维, 李彬, 赵磊, 刘凉, 马跃, 刘祺. 一种新型仿生变胞膝关节外骨骼机器人及其多体运动尺度综合方法研究[J]. 机械工程学报, 2023, 59(5): 142-155.