【作者】 王飞；

【导师】 李端玲；

【作者基本信息】 北京邮电大学 ， 机械工程， 2022， 硕士

【摘要】 随着科技的不断发展,以灵巧手为代表的机器人末端夹持器发挥着越来越重要的作用。由于它能够完成各种复杂任务下的抓取操作,已成为未来机器人领域重要的研究方向。首先,本文提出一种模块化二自由度全驱动手指机构,包含两个驱动源和两个关节,各关节均可独立运动,传动形式为连杆传动。通过对手指机构进行有限元分析验证了手指机构的设计合理性。在驱动电机与连杆之间设计了柔性构件弹簧并通过对手指末端抓取力分析验证得出手指可以柔性输出。提出一种可变三指手掌机构,手掌可带动手指进行不同构型分布,形成单侧排布抓持、对侧排布抓持、均布排布抓持三种抓持模式,适应不同任务抓取需求。其次,本文对单个手指机构进行了正逆运动学建模与分析。因为灵巧手比较复杂且集成度较高,因此需要将一根手指简化成一个连杆机构,并对每根手指进行单手指位姿的建模。基于四连杆机构、几何关系以及欧拉方程等从驱动器空间到关节空间再到手指末端位置空间进行正逆映射,得到手指的正逆运动学模型。在Matlab中绘制出手指的工作空间并对其进行分析得出相较于欠驱动手的抓取优势。最后,对灵巧手手指和手掌的实物样机进行控制测试,并对灵巧手三种不同构型进行抓持仿真分析。本文搭建出三指灵巧手实物样机并进行了控制抓握测试,设计了 PC端与驱动电机的连接并发送指令的相关模式以及驱动电机的阻抗控制以及阻尼-弹簧-质量系统的模型和阻抗控制原理模型。对灵巧手的三种抓持模式单侧抓持、对侧抓持以及120°均布抓持进行抓持仿真,并分析了手指关节与目标物体之间接触力的变化以及抓取物体时电机推杆质心位置的变化,得出三种模式均可以稳定抓取。分析表明所设计的三指灵巧手可以适应不同任务抓取,实用性较强。更多还原

【Abstract】 With the continuous development of science and technology,the robot end gripper represented by the dexterous hand plays an increasingly important role.Because it can complete the grasping operation under various complex tasks,it has become an essential part of the field of robotics in future research direction.Firstly,this paper proposes a modular two-degree-of-freedom full-drive finger mechanism,which includes two drive sources and two joints,each joint can move independently,and the transmission form is link transmission.The rationality of the design of the finger mechanism is verified by finite element analysis of the finger mechanism.A flexible member spring is designed between the drive motor and the connecting rod,and the finger can output flexibly by analyzing and verifying the grasping force at the end of the finger.A variable three-finger palm mechanism is proposed,the palm can drive the fingers to distribute in different configurations,forming three grasping modes:unilaterally arranged grasping,opposite-side arranged grasping,and uniformly arranged grasping,which is suitable for grasping needs of different tasks.Secondly,the forward and inverse kinematics modeling and analysis of a single finger mechanism are carried out in this paper.Because the dexterous hand is complex and highly integrated,it is necessary to simplify one finger into a linkage mechanism,and model the single-finger pose for each finger.Based on the four-bar linkage,geometric relationship and Euler equation,the forward and inverse mapping is performed from the actuator space to the joint space and then to the finger end position space,and the forward and inverse kinematics model of the finger is obtained.Drawing the finger’s workspace in Matlab and analyzing it to get the grasping advantage over the underactuated hand.Finally,the control test of the physical prototype of the fingers and palm of the dexterous hand is carried out,and the grasping simulation analysis of three different configurations of the dexterous hand is carried out.In this paper,a prototype of the three-finger dexterous hand is built and the control grip test is carried out.The related mode of connecting the PC terminal to the drive motor and sending commands,as well as the impedance control of the drive motor and the model and impedance control of the damping-spring-mass system are designed principle model.Grasping simulation of three grasping modes of dexterous hand:unilateral grasping,contralateral grasping and 120°uniform grasping,and analyzed the change of the contact force between the finger joint and the target object and grasping,the change of the position of the center of mass of the motor push rod when the object is used,and it is concluded that all three modes can be stably grasped.The analysis shows that the designed three-fingered dexterous hand can adapt to different tasks and has strong practicability.更多还原