Kresling和Miura折痕混合型三指机械手的运动学分析及其设计

Design and Kinematics Analysis of a Three-finger Manipulator with Kresling and Miura Hybrid Origami Crease

提出了一种基于Kresling和Miura折痕的混合型三指机械手,该手具有抓取范围大、结构简单和灵活性高的特点。首先,对Kresling折痕进行几何分析,建立了Kresling折痕参数与应变能之间的关系方程。利用坐标法建立了多层Miura折纸单元的力矩与指节长宽比之间的关系方程;在此基础上利用虚功原理建立了混合型单元的各个参数之间关系的数学模型,并采用D-H(Denavit-Hartenberg)坐标法计算出末端点的分布来确定机械手的工作空间;采用力矩平衡的方法,分析了机械手对圆柱体和长方体分别进行指尖抓取和包络抓取的情况,得出了各接触力与各关节角之间的关系。

A three-finger manipulator with a Kresling and Miura hybrid origami crease is proposed,which has large grasping range,simple structure and high flexibility.Firstly,geometrical analysis on the Kresling origami crease is performed,and the relation equation between the parameters and the strain energy of the Kresling origami crease is established.The equation between the moment and the knuckle length-width ratio of the multilayer Miura origami element is established by the coordinate method.Then,the mathematical model of the relationship among the parameters of the hybrid element is established by using the principle of virtual work,and the distribution of the end points is calculated by using the D-H(Denavit-Hartenberg)coordinate method to determine the workspace of the manipulator.The method of torque balance is used to analyze the situations that the manipulator grasps the cylinder and cuboid objects in fingertip manner and in envelope manner respectively,and the relation between the contact forces and the joint angles is derived.