水下欠驱动机械手结构设计与仿真分析

Structure design and simulation analysis of a deep-sea underactuated hand

面向水下机械手深海作业环境,研究设计了一种可用于水下环境的欠驱动机械手,机械手共有3个手指,每个手指有3个关节,是由连杆传动的欠驱动手指,欠驱动使手指抓取具有自适应性。分析了手指运动机理,研究设计了手指模块和整体结构,对手指进行了抓取静力学分析,在ADAMS软件中对机械手进行动力学仿真,验证了机械手结构的合理性与可行性。

Aiming at the deep-sea operation requirement of underwater hands,an underactuated manipulator,which can be used in underwater environment,was designed.The hand has three fingers,each finger has 3 joints which are driven by connecting rod,so it is an underactuated mode.The self-adaptability of the hand using underactuation was obtained.The mechanism of finger movement was analyzed,the finger module and the overall structure were studied and designed,and the finger grasping statics was analyzed.Dynamic simulation in ADAMS software verifies the rationality and feasibility of finger structure.