陈为林, 冯梓泓, 卢清华, 黄铭贤, 张普翔, 张清华. 多模式刚柔结合欠驱动抓取机构的设计、分析与实验测试[J]. 机器人, 2022, 44(2): 139-152. DOI: 10.13973/j.cnki.robot.210063
引用本文: 陈为林, 冯梓泓, 卢清华, 黄铭贤, 张普翔, 张清华. 多模式刚柔结合欠驱动抓取机构的设计、分析与实验测试[J]. 机器人, 2022, 44(2): 139-152. DOI: 10.13973/j.cnki.robot.210063
CHEN Weilin, FENG Zihong, LU Qinghua, HUANG Mingxian, ZHANG Puxiang, ZHANG Qinghua. Design, Analysis and Experimental Test of a Multi-Mode Rigid-Flexible Underactuated Grasping Mechanism[J]. ROBOT, 2022, 44(2): 139-152. DOI: 10.13973/j.cnki.robot.210063
Citation: CHEN Weilin, FENG Zihong, LU Qinghua, HUANG Mingxian, ZHANG Puxiang, ZHANG Qinghua. Design, Analysis and Experimental Test of a Multi-Mode Rigid-Flexible Underactuated Grasping Mechanism[J]. ROBOT, 2022, 44(2): 139-152. DOI: 10.13973/j.cnki.robot.210063

多模式刚柔结合欠驱动抓取机构的设计、分析与实验测试

Design, Analysis and Experimental Test of a Multi-Mode Rigid-Flexible Underactuated Grasping Mechanism

  • 摘要: 结合刚性欠驱动抓取机构与柔顺机构,提出一种多模式刚柔结合欠驱动抓取机构,并对所提出的机构进行分析与实验研究。基于刚体替代法,设计了二指多模式欠驱动抓取机构的刚柔结合方案。运用正运动学分析与载荷平衡方程,对驱动单元进行静力学建模。结合伪刚体模型法、载荷平衡方程与操作对象平衡位置枚举搜索,建立两点抓取与包络抓取模式下抓取力与驱动力矩的关系式。将驱动单元静力学建模与抓取单元静力学建模相结合,可以得到完整的多模式抓取力模型。进一步地,考虑由于接触引起的柔性杆件变形,结合线性插值,对抓取力模型进行修正。基于修正后的抓取力模型,对机构尺寸参数进行优化设计,综合提升机构在两点抓取模式和包络抓取模式下的载荷输出性能。RecurDyn仿真结果显示,在两点抓取模式和包络抓取模式下,修正后完整的抓取力模型与仿真值的最大相对误差为7.62%,并且所提出的优化算法有效提升了机构的两点抓取力与综合包络抓取力。实验结果显示,优化后的抓取机构抓取力有较大的提升,修正后完整的抓取力模型与实验值的最大相对误差为1.87%,验证了抓取力建模、优化设计的有效性。

     

    Abstract: By combining rigid underactuated grasping mechanism with compliant mechanism, a multi-mode rigid-flexible underactuated grasping mechanism is proposed, analyzed and experimentally studied.Based on the rigid-body replacement method, the rigid-flexible combination scheme of a two-finger multi-mode underactuated grasping mechanism is designed.Utilizing the forward kinematics analysis and the load equilibrium equation, the static model of the driving unit is established.With the combination of the pseudo-rigid-body model, the load equilibrium equation and the enumeration search for the equilibrium position of operated object, the relationship between the grasping force and the driving moment in the two-point grasping and enveloped grasping modes is modeled.Combining the static modeling of driving unit with that of grasping unit, the complete multi-mode grasping force models can be obtained.Furthermore, the grasping force models are corrected by considering the deformation of flexible linkages induced by contact and using linear interpolation.Based on the corrected grasping force models, the parametric optimization of mechanism dimensions is conducted, which improves the load output performance of mechanism in the two-point grasping mode and the enveloped grasping mode comprehensively.RecurDyn simulation results show that, the maximum relative error between the corrected complete grasping force models and the simulation values is 7.62% in the two-point grasping mode and enveloped grasping mode, and the proposed optimization algorithm improves the two-point grasping force and comprehensive enveloped grasping force of mechanism effectively.The experimental results show that, the grasping force of optimal grasping mechanism is significantly improved, and the maximum relative error between the corrected complete grasping force models and the experimental values is 1.87%, which verifies the effectiveness of the grasping force modeling and optimization design.

     

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