欠驱动机构的运动学分析及应用研究

欠驱动机构是指驱动数少于机构自由度数的一类机构,近些年来对于欠驱动机构的研究主要集中在欠驱动机构的控制策略上,对于欠驱动机构运动规律的研究却不多。探讨了欠驱动机构的运动规律——阻尼最小定理,通过仿真验证了该规律,并将其拓展到四杆机构。运用此规律对于欠驱动仿人手指进行了运动状态分析。最后给出了一些欠驱动机构的应用实例。

Motion analysis and application research on the under-actuated mechanism

Under-actuated mechanism is a category of mechanism whose actuator is less than its dof (degree of freedom). The research on the under-actuated mechanism focuses on the control method. But the research on the discipline of its movement is deficient. Discussed the discipline of the under-actuated mechanism movement- Minimum Damping Theorem,and validated the discipline. The movement of the four linkage mechanism is explained using this discipline. The under-actuated finger is also analyzed. Finally,some appli...