共查询到19条相似文献,搜索用时 359 毫秒
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果蔬采摘欠驱动机械手爪设计及其力控制 总被引:10,自引:1,他引:9
为了实现果蔬的无损采摘,采用欠驱动原理设计出一种结构更简单、通用性更强的末端执行器。欠驱动机构是指驱动器数目少于机构本身自由度数目的机构,基于欠驱动原理设计的机械手结构简单可靠,抓取物体时具有形状自适应能力,手指可完全包络物体,可以通过最大接触力的闭环力反馈控制来实现无损采摘。基于这一设计思想设计出仅靠一个电动机驱动三个手指的机械手爪,通过理论分析、手爪机构设计与建模、结构参数优化,确定设计尺寸制出机械手爪,设计控制电路结合力反馈控制进行抓取试验。试验结果表明该手爪能实现期望的抓取与最大接触力控制功能,并具有控制简单可靠、抓取稳定、不损伤果实等特点。 相似文献
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具有形状自适应的欠驱动拟人机器人手指 总被引:1,自引:0,他引:1
为了实现使用较少驱动器获得较多的自由度,从而在不增加控制难度的前提下,更好地抓取物体以及增加手的拟人化,需要研究欠驱动机械手指装置。提出了一种新的设计思想,以此为指导设计了一种机械手指装置,并对其主要设计参数进行了详细分析。试验证明,该装置可以作为机器人拟人手的一个手指或手指的一部分,用以实现机器人拟人手较少驱动器驱动较多的手指关节自由度,并具有抓取不同形状、尺寸的物体的自适应性,降低了装置对控制系统的要求。该装置外形与人手的手指相似,结构简单、可靠、易加工、体积小和重量轻。 相似文献
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为解决机器人自动装配、医学康复断指再造等多接触抓取装置驱动元件多,结构复杂且笨重的问题,设计了一种灵巧节能的单自由度仿真机械手的驱动机构,推导了各指节间的运动关系方程,利用ADAMS建立了其参数化仿真模型,分析了特定构件尺寸的机构运动轨迹与人手抓取轨迹的差距,进而提出满足人手抓取轨迹、驱动力矩小、各构件尺寸小的驱动机构的优化数学模型,经NSGA-II算法获得与人手抓取轨迹相差无几的多个最优方案,并用参数化模型进行了验证。设计结果表明,所提出的驱动机构仅需一个驱动元件即能实现手指各关节的灵巧运动,且结构尺寸小,满足节能环保的要求,是仿真机械手设计的新尝试。 相似文献
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Robotic fingers, which are the key parts of robot hand, are divided into two main kinds: dexterous fingers and under-actuated fingers. Although dexterous fingers are agile, they are too expensive. Under-actuated fingers can grasp objects self-adaptively, which makes them easy to control and low cost, on the contrary, under-actuated function makes fingers feel hard to grasp things agilely enough and make many gestures. For the purpose of designing a new finger which can grasp things dexterously, perform many gestures and feel easy to control and maintain, a concept called "gesture-changeable under-actuated" (GCUA) function is put forward. The GCUA function combines the advantages of dexterous fingers and under-actuated fingers: a pre-bending function is embedded into the under-actuated finger. The GCUA finger can not only perform self-adaptive grasping function, but also actively bend the middle joint of the finger. On the basis of the concept, a GCUA finger with 2 joints is designed, which is realized by the coordination of screw-nut transmission mechanism, flexible drawstring constraint and pulley-belt under-actuated mechanism.Principle analyses of its grasping and the design optimization of the GCUA finger are given. An important problem of how to stably grasp an object which is easy to glide is discussed. The force analysis on gliding object in grasping process is introduced in detail. A GCUA finger with 3 joints is developed. Many experiments of grasping different objects by of the finger were carried out. The experimental results show that the GCUA finger can effectively realize functions of pre-bending and self-adaptive grasping, the grasping processes are stable. The GCUA finger excels under-actuated fingers in dexterity and gesture actions and it is easier to control and cheaper than dexterous hands, becomes the third kinds of finger. 相似文献
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针对目前五指灵巧手自由度低、拆装繁琐等问题,设计出一种模块化、易拆装、直驱式11自由度五指灵巧手.通过永磁铁实现手指关节间的快速拆装,每个手指关节至少有±90°转动范围;通过对大拇指转动角度的特殊设计,可实现灵巧手左/右手模式直接切换以及双侧同时抓取.通过3D打印制作了五指灵巧手样机.针对灵巧手多传感器造成控制系统复杂... 相似文献
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This paper presents a biomimetic hand that employs a hybrid actuation scheme that provides large grasping forces and swift motion. This hybrid hand is made up of a red muscle actuator used for grasping and a white muscle actuator used for fast and accurate movement. A parallel structure utilizing fully back-drivable linear motors has been adopted for the white muscle actuators. The red muscle actuators employ a Micro Hydraulic Compressor Converter (MHCC), hydraulic cylinder, and a tendon. The tendon structure enables a passive shape adaptation during the act of grasping an object. Safety in regards to impact is achieved through the back-drivability. The hybrid hand is comprised of two fingers and a thumb. The fingers and the thumb all have 2 degrees of freedom. The hybrid actuation is only applied to the fingers. The experiment results indicate that a grasping force of 94N is generated through the red muscle actuator and a 3 Hz sinusoidal motion is obtained from the white muscle actuator. 相似文献
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Handong HU Yiwei LIU Zongwu XIE Jianfeng YAO Hong LIU 《Frontiers of Mechanical Engineering》2022,17(3):35
This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments, such as unstructured or man-made operational errors through comprehensive consideration of cost, accuracy, manufacturing, and application. Based on the concept of mechanical passive compliance, which is widely implemented in robots for interactions, a finger is dedicated to improving mechanical robustness. The finger mechanism not only achieves passive compliance against physical impacts, but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory actuators. It achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust stiffness. The mechanical design of the finger and its stiffness adjusting methods are elaborated. The stiffness characteristics of the finger joint and the actuation unit are analyzed. Experimental results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the model. Fingers have been experimentally proven to be robust against physical impacts. Moreover, the experimental part verifies that fingers have good power, grasping, and manipulation performance. 相似文献
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对欠驱动多指节机器人手的抓力进行了分析,给出了直指和曲指抓取物体时的抓力方程,并对手指抓力作了动态仿真。手指抓力分析为多指节手的机构与力控制设计提供了理论基础。 相似文献
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多指灵巧手的最佳灵巧性设计 总被引:5,自引:0,他引:5
首先讨论了多指抓持系统中抓持物体的灵巧性 ,指出该系统的灵巧性取决于各手指的性能。然后 ,分析了单个手指 (单个操作器 )的灵巧度 ,通过对手指灵巧性的要求 ,确定手指 (操作器 )的最佳工作区域。最后 ,提出具有最佳灵巧性的多指灵巧手的设计准则 ,并利用两指手、三指手的设计 ,表明了多指手的最佳灵巧性设计 相似文献
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从手指关节运动副型式、手指指数和手掌、手指结构、手指材料、各个关节运动的驱动方式以及传动方式、各关节截面的结构型式、传感器的选择和布置等7个方面对灵巧手进行优化分析。考虑到一般性和通用性,对各手指之间的相对位置及姿态、各关节的长度及回转关节的回转角度范围,运用拟人法,类比法,建立优化目标函数和约束条件进行优化计算,设计出一种用于护理机器人上的带手掌的3指9关节灵巧手。对灵巧手的具体结构作了分析,绘出了灵巧手的三维结构模型。优化的护理灵巧手扩大了抓取范围,安装了灵巧手的护理机器人,减轻了护士的劳动强度,提高了护理质量。 相似文献
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Synergic movement of finger's joints provides human hand tremendous dexterities, and the detection of kinematics parameters is critical to describe and evaluate the kinesiology functions of the fingers. The present work is the attempt to investigate how the angular velocity and angular acceleration of the joints of index finger vary with respect to time during conducting a motor task. A high-speed video camera has been employed to visually record the movement of index finger, and miniaturized (5-mm diameter) reflective markers have affixed to the subject's index finger on the side close to thumb and dorsum of thumb at different joint landmarks. Captured images have been reviewed frame by frame to get the coordinate values of each joint, and the angular displacements, angular velocities and angular acceleration can be obtained with triangle function. The experiment results show that the methods here can detect the kinematics parameters of index finger joints during moving, and can be a valid route to study the motor function of index finger. 相似文献