欠驱动机械手关键技术对比及运动结构设计

Key technology comparison and motion structure design of under actuated manipulator

现代自动加工领域与工程机械等工业机器人行业用全驱动机械结构实现技术,因其结构复杂,并需要多动力源驱动的控制难等成为行业技术难题,设计欠驱动机械手是一种质量轻,驱动少且可实现自适应抓握等优势的解决方案.通过对比欠驱动机械手的研究现状,描述欠驱动机械手的驱动器,连杆式、腱式欠驱动机械手的组成及运动原理,对比自由度与优缺点,设计出一款三指连杆式欠驱动机械结构及其零部件,并分析了欠驱动机械结构的未来发展趋势与应用领域优势.结果表明,欠驱动机械手朝着结构更简单,机型更小,智能化程度更高、更精准的施动对象等特征发展.

In the field of modern automatic processing and industrial robot industry such as construction machinery,the technology of using full drive mechanical structure has become a technical problem because of its complex structure and the need for multi power source drive.The design of under actuated manipulator is a solution with light weight,less drive and adaptive grasp.By comparing the research status of under actuated manipulator,describes in detail the actuator of under actuated manipulator,the composition and motion principle of link type and tendon type under actuated manipulators,and the comparative degrees of freedom,advantages and disadvantages.A three finger linkage under actuated mechanical structure and its parts are designed,the future development trend and application advantages of the under actuated mechanism are discussed.The conclusion is that the under actuated manipulator is developing towards the characteristics of simpler structure,smaller model,higher degree of intelligence and more accurate actuator.