绳驱动式欠驱动机械手稳定抓取构型分析（英文）
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摘要
对一种新型绳索驱动式机械手进行了稳定抓取位形研究.该机械手具有欠驱动特点,采用绳轮传动系统和平行四连杆机构实现抓取功能.介绍了欠驱动机械手构型设计和抓取运动策略,建立了圆形物体包络抓取模型,推导出绳驱动力与指节抓取力的关系方程并分析了稳定抓取成立的条件.采用插值和迭代计算的方法,分析了绳轮式欠驱动机械手抓取圆形目标体时的稳定抓取位形. ADAMS准静力学仿真分析验证了指节抓取力分布的正确性,也验证了所提分析方法的可行性和有效性.欠驱动机械手指节接触力分布与被抓取物体位置关系表明绳驱动式欠驱动机械手具有3种稳定抓取位形.
The stable grasping gesture of a novel cable-driven robotic hand is analyzed. The robotic hand is underactuated,using tendon-pulley transmission and a parallel four-linkage mechanism to realize grasp. The structure design and a basic grasping strategy of one finger was introduced. According to the established round object enveloping grasp model, the relationship between the contacting and driving forces in a finger and stable grasping conditions were expounded. A method of interpolation and iteration was proposed to obtain the stable grasping gesture of the cable-driven hand grasping a round target. Quasi-statics analysis in ADAMS validated the variation of grasping forces, which illustrated the feasibility and validity of the proposed analytical method. Three basic types of grasping gestures of the underactuated hand were obtained on the basis of the relationship between the contact forces and position of a grasped object.
The stable grasping gesture of a novel cable-driven robotic hand is analyzed. The robotic hand is underactuated,using tendon-pulley transmission and a parallel four-linkage mechanism to realize grasp. The structure design and a basic grasping strategy of one finger was introduced. According to the established round object enveloping grasp model, the relationship between the contacting and driving forces in a finger and stable grasping conditions were expounded. A method of interpolation and iteration was proposed to obtain the stable grasping gesture of the cable-driven hand grasping a round target. Quasi-statics analysis in ADAMS validated the variation of grasping forces, which illustrated the feasibility and validity of the proposed analytical method. Three basic types of grasping gestures of the underactuated hand were obtained on the basis of the relationship between the contact forces and position of a grasped object.
引文
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[3]LalibertéT,Gosselin C M.Simulation and design of underactuated mechanical hands[J].Mechanism and Machine Theory,1998,33(1/2):39-57.
[4]Gosselin C M,Laliberte T.Underactuated mechanical finger with return actuation:US Patent 5762390[P].1998-06-09.
[5]Jin B,Lin L X.Design and force control of an underactuated robotic hand for fruit and vegetable picking[J].Journal of Mechanical Engineering,2014,50(19):1-8.(in Chinese)
[6]Yoon D,Choi Y.Underactuated finger mechanism using contractible slider-cranks and stackable four-bar linkages[J].ASME Transactions on Mechatronics,2017,22(5):2046-2057.
[7]Wang Q C,Quan Q Q,Deng Z Q,et al.An underactuated robotic arm based on differential gears for capturing moving targets:Analysis and design[J].Journal of Mechanisms and Robotics,2016,8(4):041012.
[8]Liang D,Song J,Zhang W,et al.PASA hand:A novel parallel and self-adaptive underactuated hand with gearlink mechanisms[C]//International Conference on Intelligent Robotics and Applications.Tokyo,Japan,2016:134-146.
[9]Nishimura H,Kakogawa A,Ma S.Development of anunderactuated robot gripper capable of retracting motion[C]//2012 IEEE International Conference on Robotics and Biomimetics.Guangzhou,China,2012:2161-2166.
[10]Wolf S,Eiberger O,Hirzinger G.The DLR FSJ:Energy based design of a variable stiffness joint[C]//2011 IEEEInternational Conference on Robotics and Automation.Shanghai,China,2011:5082-5089.
[11]Rossi C,Savino S.An underactuated multi-finger grasping device[J].International Journal of Advanced Robotic Systems,2014,11:1-12.DOI:10.5772/57419.
[12]Carpenter R,Hatton R,Balasubramanian R.Evaluation of linear and revolute underactuated grippers for steel foundry operations[J].Industrial Robot:An International Journal,2015,42(4):314-323.
[13]Davidson J R,Mo C.Mechanical design and initial performance testing of an apple-picking end-effector[C]//2015 ASME International Mechanical Engineering Congress and Exposition.Houston,TX,USA,2015:1-9.
[14]Nacy S M,Tawfik M A,Baqer I A.A novel fingertip design for slip detection under dynamic load conditions[J].Journal of Mechanisms and Robotics,2014,6(3):031009.DOI:10.1115/1.4027237.
[15]Tan S,Zhang W,Chen Q,et al.Design and analysis of underactuated humanoid robotic hand based on slip blockcam mechanism[C]//2009 IEEE International Conference on Robotics and Biomimetics.Guilin,China,2009:2356-2361.
[16]Liu Y W,Feng F,Gao Y F.HIT prosthetic hand based on tendon-driven mechanism[J].Journal of Central South University,2014,21(5):1778-1791.
[17]Carbone G,Rossi C,Savino S.Performance comparison between FEDERICA hand and LARM hand[J].International Journal of Advanced Robotic Systems,2015,12:1-12.DOI:10.5772/60523.
[18]Wang L,DelPreto J,Bhattacharyya S,et al.A highlyunderactuated robotic hand with force and joint angle sensors[C]//2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.San Francisco,CA,USA,2011:1380-1385.
[19]Aukes D M,Heyneman B,Ulmen J,et al.Design and testing of a selectively compliant underactuated hand[J].The International Journal of Robotics Research,2014,33(5):721-735.
[20]Qiao S,Guo H,Liu R,et al.Research of the relation between configuration and skin-friction coefficient of an underactuated hand based on the maximum grasping space[M]//Mechanism and Machine Science.Singapore:Springer,2017:89-100.