三自由度手指机构分析及其优化设计

本文引进工作空间和可达空间来描述多关节柔性手指机构的工作范围.采用空间解析几何法,推导出空间3R手指机构工作空间的体积和奇异面的面积,提出手指机构工作姿态最佳的评价方法并推出其与工作空间体积最大的等价关系。分析手指机构各向同性点存在条件并作为优化设计的约束函数、以A3型手指机构的工作空间容积比最大、位置奇异而密度比最小和工作姿态最佳作为优化目标进行数值计算.

ANALYSIS AND OPTIMIZATION DESIGN OF A THREE D.O.F.MULTI-ARTICULATED FINGER-MECHANISM

In this paper,the working region of a three d.o.f.multi-articulated finger-mechanism is expressed byits workspace and/or attainable space.The volume of the workspace and the area of the singular curvedsurface is formulated by means of the method of analytic geometry.We analyze the existing conditions ofisotropic points of the finger-mechanism and take these conditions as the design constraints.Further,wetake the maximum volume ratio of the workspace and the minimum area ratio of the singular curved sur-face as the object functions of the optimization design.We see that the maximum volume ratio indicates al-so the optimal working configuration of the finger-mechanism.Throughout this paper,the A3 type is takenas example,and adequate numerical calculations of it has been given.