一种新型的仿生机械手结构设计与运动学仿真

Structure design and kinematics simulation of a new bionic manipulator

为解决仿生机械手结构复杂、自适应差、抓取物体方式单一的问题,设计了一款结构简单、易于控制和抓取的自适应欠驱动仿生机械手。应用SolidWorks建立欠驱动仿生机械手的实体模型,并建立正运动学模型;利用Matlab求出运动范围,通过ADAMS进一步对仿生机械手进行运动学仿真分析,得到仿生机械手指关键构件的运动学参数以及运动特性曲线。结果表明:机械手设计合理且可行,满足设计要求,可为机械手的运动控制及机械结构的优化设计提供参考。

To solve the problems of complex structure,poor self-adaptive and single grasping mode of bionic manipulator,an adaptive underactuated bionic manipulator with simple structure,and easy control and grasp was designed.The solid model of underactuated bionic manipulator was made by SolidWorks,and the forward kinematics model was established.With the motion range obtained by Matlab,the kinematics simulation analysis of the bionic manipulator was carried out,and the kinematic parameters and motion characteristic curves of the key components of the bionic manipulator were obtained.The results show that the design of the manipulator is reasonable and feasible,which meets the design requirements of manipulator.It provides a reference for the motion control of the manipulator and the optimization design of mechanical structure.