节能型仿真机械手驱动机构设计

Driving mechanism design of energy saving anthropomorphic finger

为解决机器人自动装配、医学康复断指再造等多接触抓取装置驱动元件多、结构复杂且笨重的问题,提出了一种单自由度仿真机械手驱动机构的设计方案,建立了该方案的满足人手抓取轨迹、驱动力矩小、各构件尺寸小的优化数学模型,经NSGA-II算法求得多个最优尺度方案。利用ADAMS建立了驱动机构最优尺度参数化仿真模型,进行了机构运动灵活性和抓取轨迹验证,获得了抓取物尺寸与驱动转角的关系曲线。

A driving mechanism scheme for a 1-DOF anthropomorphic finger（AF） has been put forward to solve the problems, such as high number of driving elements, complex structures and high mass of the available multi-touch capture devices used in the fields of robotic assembly and medical finger rehabilitation. The optimal mathematical model that meet the manpower crawl trajectory, small driving torque and small component length has been presented. A lot of optimal schemes have also been obtained using NSGA-II algorithm. The optimal dimension parametric simulation model of driving mechanism was established using ADAMS. The dexterity and manpower crawl trajectory of driving mechanism have been verified. The relation curve between the driving knuckle angle and the crawl radius has also been obtained.