基于行星齿轮机构的牵引式欠驱动机械手设计

为实现夹持力调节和目标物体抓取功能，设计了一种基于行星齿轮机构的牵引式欠驱动机械手。该机械手采用不固定输出轴和内齿圈的行星齿轮机构来分配2种互斥的运动，一种用于手指的转动，实现机械手的夹持功能；另一种用于皮带轮的无限转动，通过皮带实现目标物体的拉入功能。相对于腱绳式和连杆式欠驱动机械手，这种单输入双输出形式不仅能够保持机械手的自适应性，同时还能降低机械手的耦合程度。根据行星齿轮机构的这种传动特点，设计了阻力矩调节机构，实现了机械手的夹持力调节功能。夹持力测试实验表明，在阻力矩调节机构的作用下，机械手能有效调节夹持力。抓取实验结果表明，机械手能够实现对刚性和柔性目标物体的抓取操作，验证了机械手设计的有效性。

Design of a Tractive Underactuated Manipulator Based on Planetary Gear Mechanism

To realize the functions of clamping force adjustment and target object pulling,an underactuated manipulator is designed based on planetary gear mechanism.Because the output shaft and ring gear of the planetary gear mechanism are not fixed,the underactuated manipulator can be assigned two mutually exclusive motions.One motion is used for the rotation of the manipulator fingers to realize the gripping function of the manipulator.The other is used for the infinite rotation of the pulley,and the pulling function of the target object is realized through the belt.Relative to the tendon rope and link type underactuated manipulators,this single-input double-output mode can not only maintain the adaptability of the manipulator,but also reduce the coupling degree of the manipulator.According to the transmission characteristics of the planetary gear mechanism,the resistance regulation mechanism is designed,which realizes the function of adjusting the gripping force of the manipulator.The clamping force test results show that the manipulator can effectively adjust the gripping force under the adjustment of the resistance regulation mechanism.The grasping experiment results show that the manipulator can grasp the rigid and flexible objects,which verifies the effectiveness of the manipulator.