直线平夹自适应机器人手抓取分析与实验

doi:10.3901/JME.2021.19.006

机械工程学报 ›› 2021, Vol. 57 ›› Issue (19): 61-69.doi: 10.3901/JME.2021.19.006

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直线平夹自适应机器人手抓取分析与实验

罗超^1,2, 张文增², 王子越¹, 周杰^1,2

1. 中煤科工开采研究院有限公司北京 100013;
2. 清华大学机械工程系北京 100084

收稿日期:2020-10-04 修回日期:2021-03-19 出版日期:2021-10-05 发布日期:2021-12-13
作者简介:罗超,男,1994年出生,硕士,助理研究员。主要研究方向为机器人技术、机构设计。E-mail:luochao_buaa@126.com
基金资助:
国家重点研发计划资助项目（2017YFE0113200）。

Grasping Analysis and Experiment of a Linear-parallel and Self-adaptive Robot Hand

LUO Chao^1,2, ZHANG Wenzeng², WANG Ziyue¹, ZHOU Jie^1,2

1. CCTEG Coal Minning Research Institute, Beijing 100013;
2. Department of Mechanical Engineering, Tsinghua University, Beijing 100084

Received:2020-10-04 Revised:2021-03-19 Online:2021-10-05 Published:2021-12-13

摘要/Abstract

摘要： 传统机器人手在平夹模式下，其手指末端的运动轨迹为圆弧，难以精确捏持薄板物体。针对传统机器人手的不足，设计一种可实现直线平夹精确捏持和自适应包络通用抓取的机器人手，分析了该机器人手的工作原理，结构组成，并且对机器人手抓取模式、平夹抓取最大抓取质量和自适应包络抓取特性进行分析，为优化机器人手设计提供依据。研制了机器人手样机，并在手指表面安置了压力传感器实时监测抓取过程中的受力情况，开展了定性抓取实验和定量测试实验，通过对传感器反馈数据进行分析，得出了机器人手在不同抓取模式、抓取不同特性物体时的受力情况，验证了机器人手抓取性能。

关键词: 机器人手, 欠驱动手, 直线平夹自适应, 抓取分析

Abstract: Traditional parallel robot hand executes a circle trace under the parallel grasping mode, which is not suitable for grasping thick objects on tables. To overcome the shortcomings of traditional robot hand, a robot hand which can realize linear-parallel precision pinching and self-adaptive envelope universal grasping is designed, analyzes the working principle, structural design characteristics of the robot hand, and analyzes the grasping mode, the maximum grasping quality of linear-parallel pinching, and the mechanical characteristics of adaptive envelope grasping, which provides the basis for optimizing the robot hand design. A prototype robot hand is developed, and pressure sensors are placed on the finger surface to monitor the grasping process in real time Through the analysis of the feedback data from sensors, the force of the robot hand in different grasping modes is obtained. The qualitative and quantitative experiments verify the rationality of the robot hand design.

Key words: robot hand, under-actuated hand, linear-parallel and self-adaption, grasping analysis

中图分类号:

TP241

罗超, 张文增, 王子越, 周杰. 直线平夹自适应机器人手抓取分析与实验[J]. 机械工程学报, 2021, 57(19): 61-69.

LUO Chao, ZHANG Wenzeng, WANG Ziyue, ZHOU Jie. Grasping Analysis and Experiment of a Linear-parallel and Self-adaptive Robot Hand[J]. Journal of Mechanical Engineering, 2021, 57(19): 61-69.

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直线平夹自适应机器人手抓取分析与实验

Grasping Analysis and Experiment of a Linear-parallel and Self-adaptive Robot Hand

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