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多指欠驱动机械手接触力建模及抓取方式分析

Contact Force modeling and Grasp Mode Analysis of Multi-finger Under-actuated Gripper
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摘要 欠驱动机械手具有操作简单,结构紧凑等特点被广泛应用在工业机器人以及航天机器人等领域。建立了欠驱动机械手抓取接触的静力学模型,得到抓取接触力与输入力矩的关系。针对欠驱动机械手包络分析了抓取位置偏差对手指各关节角度的变化影响。通过Matlab编程方式进行了包络抓取方式的数值仿真,验证了抓取模型的正确性。 Underactuated robotic hand with the simple operation and compact structure is widely used in industrial robots and aerospace robots and other fields. The static model of underactuated manipulator is established, and the relationship between grasping contact force and input torque is obtained. To the envelop grasping modes of underactuated robotic hand, the influence of grasping position deviation on the angle of each joint of the finger is analyzed. The numerical simulation of enveloping grasping methods is carried out by Matlab programming, and the correctness of the model was verified.
作者 马常友 高超 刘启生 刘远军 吴贵福 唐正坤 MA Chang-you;GAO Chao;LIU Qi-sheng;LIU Yuan-jun;WU Gui-fu;TANG Zheng-kun(School of Mechanical Engineering, Jiamusi University, Jiamusi Heilongjiang 154007,China;China COMAC Shanghai Aircraft Design and Research Institute, Shanghai 201210, China)
机构地区 佳木斯大学机械工程学院 中国商飞上海飞机设计研究院
出处 《佳木斯大学学报（自然科学版）》 CAS 2019年第5期761-764,共4页 Journal of Jiamusi University：Natural Science Edition
基金 佳木斯大学科研项目(L2013-065) 黑龙江省省属高等学校基本科研业务费科研项目(2017-KYYWF-0568)
关键词 欠驱动 机械手 静力学 抓取方式 underactuated robotic hand static analysis grasp way
分类号 TP241 [自动化与计算机技术—检测技术与自动化装置]
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佳木斯大学学报（自然科学版）
2019年 第5期

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