基于气动复合弹性体柔性关节机械手研究
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摘要
随着科技发展和社会进步，工业产品装卸与装配、军事机器人、农业机器人、伤残人员和服务机器人中需要大量的柔性机械手，完成类似人手的功能，代替人实现灵巧操作。因此，研究具有较高柔性和灵活性的仿人机械手的新型结构与理论，具有重要的学术价值和应用前景。
气动仿人柔性五指机械手通过控制气压实现手指各关节的变形，完成机械手抓取操作。其研制目的是模拟人手的外形和功能，实现机械手对不同物体抓取的适应性。为了提高机械手的柔顺性，本文研制了一种新型气动人工肌肉，并在此基础上开发了气动多向弯曲柔性关节和无轴多铰链的单向弯曲柔性关节。柔性关节属于关节本体和驱动装置为一体的气动复合弹性体。建立了新型气动人工肌肉和两种柔性关节的力学理论模型，获得了气动人工肌肉的旋伸特性、单向弯曲关节和多向弯曲关节的弯曲特性，并通过静力学实验对理论模型进行了验证。
利用两种柔性关节从仿生角度出发，提出了一种仿人柔性五指机械手。该柔性机械手外形尺寸与人手相近，具有5个手指，每个手指由三个柔性关节组成。除大拇指外的其余四指基关节采用多向弯曲关节，近关节和远关节采用单向弯曲关节，可以实现手指的正屈、反弯和侧摆。大拇指基关节和近关节采用多向弯曲关节，远关节采用单向弯曲关节，可以实现大拇指多个方向的弯曲和摆动，可以实现类似人手的抓握、夹取、推拨、搓揉、捏拿、拎按，旋拧等功能。通过手指夹持力理论研究分析了机械手的抓取能力，采用测力仪进行了手指夹持力实验对建立的理论模型进行了验证，获得了手指各关节内气压对夹持力的影响。
本文研究了具有大变形非线性特征的柔性关节机械手运动学和动力学性能。采用齐次坐标变换，建立了机械手的运动方程并进行了机械手运动学仿真，分析了机械手的工作空间，模拟了机械手的运动姿态和机械手对不同形状物体的抓取，验证了机械手的灵活性和功能性。根据建立的人工肌肉、柔性关节和机械手手指的动力学模型，分析了人工肌肉、柔性关节和手指振动的固有频率。采用高速摄像机等实验装置进行了气动复合弹性体柔性关节动力学实验，研究了人工肌肉、柔性关节和机械手手指的动力学性能，为机械手的控制模型提供了依据。制定了气动仿人柔性五指机械手的抓取策略和控制方案，利用机械手气动控制平台，完成了机械手对不同形状物体的抓取实验，验证了机械手的功能性。
论文的研究工作对于实现仿生柔性机械手提供了一种解决方案，为其应用打下了理论和实验基础。
With the social development and scientific technology progresses,numerous flexible robot hands are required for the loading or unloading as well as theassembling the industrial products, military robots, agricultural robots, service robotsor the disabled persons who lost their hands. Thus, the humanoid robot hand with highflexibility has attracted increasing attention; research and development of humanoidrobot hand have important academic value and application prospect.
The robot hand completes the grasp operation by controlling the air pressure ofthe joint to achieve the deformation of the finger. The humanoid robot hand imitatesthe both shape and function of human hand as much as possible. To improve theflexibility and compliance of the robot hand, we develop a new type of pneumaticartificial muscles with elongation and torsion, furthermore, we develop themuti-directional bending flexible joint which noumenon as well as driving systemcombined into one and single bending joint with good transversal stability. Weestablished the mechanics model on pneumatic artificial muscle and two types offlexible joints get the mechanical properties of them, then the statics experiments weredone to verify the theoretical model.
We design the structure of the humanoid robot hand based on bionic principles,the humanoid robot hand has five fingers and each finger is composed by threeflexible joints. The base joint of index finger and other fingers except for the thumbemploy muti-directional bending flexible joint, both the proximal joint and the distaljoint employ single bending joint. The Series connection of the joints leads to theflexion, extension, abduction and adduction. The base joint and proximal joint employthe muti-directional bending flexible joint and the distal joint employ single bendingjoint which achieve the bending and swinging in any direction. The humanoid robothand can complete grasp, grip, push and dial and screw with the cooperation of all thefingers. We analyse on the grasp force of the robot hand by means of studying theclamping force of the fingers. The clamping force experiments have been done using dynamometer to verify the theoretical model.
The flexible joints are pneumatic composite elastomer, resulting the complicatedkinematics and dynamics performance of the humanoid robot hand. We establish thekinematic equations of the robot hand using homogeneous transformation, then wehave the kinematics simulation on the robot hand and analyze the workspace of therobot hand, moreover, the grasp operation to different shapes of objects was simulatedwhich verify the flexibility and function of the robot hand. We study the naturalfrequency of the artificial muscle, flexible joints and the finger according to to theirdynamic models. The dynamic experiments have been done on the kineticexperimental apparatus, which provides a basis for the control model of the robothand. At the same time, we propose the grasp strategy and the corresponding controlscheme, the grasp experiments to different shape objects were done on the pneumaticcontrol platform of the robot hand to verify the function of the robot hand.
The research of thesis presents the ideal solution for the bionic flexible robothand, and lays a theoretical and experimental basis for the application of the robothand.
气动仿人柔性五指机械手通过控制气压实现手指各关节的变形，完成机械手抓取操作。其研制目的是模拟人手的外形和功能，实现机械手对不同物体抓取的适应性。为了提高机械手的柔顺性，本文研制了一种新型气动人工肌肉，并在此基础上开发了气动多向弯曲柔性关节和无轴多铰链的单向弯曲柔性关节。柔性关节属于关节本体和驱动装置为一体的气动复合弹性体。建立了新型气动人工肌肉和两种柔性关节的力学理论模型，获得了气动人工肌肉的旋伸特性、单向弯曲关节和多向弯曲关节的弯曲特性，并通过静力学实验对理论模型进行了验证。
利用两种柔性关节从仿生角度出发，提出了一种仿人柔性五指机械手。该柔性机械手外形尺寸与人手相近，具有5个手指，每个手指由三个柔性关节组成。除大拇指外的其余四指基关节采用多向弯曲关节，近关节和远关节采用单向弯曲关节，可以实现手指的正屈、反弯和侧摆。大拇指基关节和近关节采用多向弯曲关节，远关节采用单向弯曲关节，可以实现大拇指多个方向的弯曲和摆动，可以实现类似人手的抓握、夹取、推拨、搓揉、捏拿、拎按，旋拧等功能。通过手指夹持力理论研究分析了机械手的抓取能力，采用测力仪进行了手指夹持力实验对建立的理论模型进行了验证，获得了手指各关节内气压对夹持力的影响。
本文研究了具有大变形非线性特征的柔性关节机械手运动学和动力学性能。采用齐次坐标变换，建立了机械手的运动方程并进行了机械手运动学仿真，分析了机械手的工作空间，模拟了机械手的运动姿态和机械手对不同形状物体的抓取，验证了机械手的灵活性和功能性。根据建立的人工肌肉、柔性关节和机械手手指的动力学模型，分析了人工肌肉、柔性关节和手指振动的固有频率。采用高速摄像机等实验装置进行了气动复合弹性体柔性关节动力学实验，研究了人工肌肉、柔性关节和机械手手指的动力学性能，为机械手的控制模型提供了依据。制定了气动仿人柔性五指机械手的抓取策略和控制方案，利用机械手气动控制平台，完成了机械手对不同形状物体的抓取实验，验证了机械手的功能性。
论文的研究工作对于实现仿生柔性机械手提供了一种解决方案，为其应用打下了理论和实验基础。
With the social development and scientific technology progresses,numerous flexible robot hands are required for the loading or unloading as well as theassembling the industrial products, military robots, agricultural robots, service robotsor the disabled persons who lost their hands. Thus, the humanoid robot hand with highflexibility has attracted increasing attention; research and development of humanoidrobot hand have important academic value and application prospect.
The robot hand completes the grasp operation by controlling the air pressure ofthe joint to achieve the deformation of the finger. The humanoid robot hand imitatesthe both shape and function of human hand as much as possible. To improve theflexibility and compliance of the robot hand, we develop a new type of pneumaticartificial muscles with elongation and torsion, furthermore, we develop themuti-directional bending flexible joint which noumenon as well as driving systemcombined into one and single bending joint with good transversal stability. Weestablished the mechanics model on pneumatic artificial muscle and two types offlexible joints get the mechanical properties of them, then the statics experiments weredone to verify the theoretical model.
We design the structure of the humanoid robot hand based on bionic principles,the humanoid robot hand has five fingers and each finger is composed by threeflexible joints. The base joint of index finger and other fingers except for the thumbemploy muti-directional bending flexible joint, both the proximal joint and the distaljoint employ single bending joint. The Series connection of the joints leads to theflexion, extension, abduction and adduction. The base joint and proximal joint employthe muti-directional bending flexible joint and the distal joint employ single bendingjoint which achieve the bending and swinging in any direction. The humanoid robothand can complete grasp, grip, push and dial and screw with the cooperation of all thefingers. We analyse on the grasp force of the robot hand by means of studying theclamping force of the fingers. The clamping force experiments have been done using dynamometer to verify the theoretical model.
The flexible joints are pneumatic composite elastomer, resulting the complicatedkinematics and dynamics performance of the humanoid robot hand. We establish thekinematic equations of the robot hand using homogeneous transformation, then wehave the kinematics simulation on the robot hand and analyze the workspace of therobot hand, moreover, the grasp operation to different shapes of objects was simulatedwhich verify the flexibility and function of the robot hand. We study the naturalfrequency of the artificial muscle, flexible joints and the finger according to to theirdynamic models. The dynamic experiments have been done on the kineticexperimental apparatus, which provides a basis for the control model of the robothand. At the same time, we propose the grasp strategy and the corresponding controlscheme, the grasp experiments to different shape objects were done on the pneumaticcontrol platform of the robot hand to verify the function of the robot hand.
The research of thesis presents the ideal solution for the bionic flexible robothand, and lays a theoretical and experimental basis for the application of the robothand.
引文
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