机器人手在机器人与环境的互动中发挥着重要作用,他们在工作生产中的任务精度和复杂性越来越高。然而,因为传统机械手的驱动部件太多,复杂的控制,缺乏多功能性,很难解决自由度之间的矛盾,体重,灵活性,和抓取能力。现有的机械手难以满足结构简单的多样化要求,很大的抓地力,以及在抓取物体时自动适应形状的能力。为了解决这个问题,基于变质机理,设计了一种结构简单、通用性强的欠驱动机械臂。首先,机械手的机构是根据变质机理设计的,并进行了运动学分析。然后,采用遗传算法对机械手手指结构的尺寸参数进行优化。最后,对于不同形状的物体,通过抓取实验进行了结合力反馈控制的控制电路设计。实验结果表明,该机械手控制简单,能够抓取不同大小的物体,职位,和形状。
Robot hands play an important role in the interaction between robots and the environment, and the precision and complexity of their tasks in work production are becoming higher and higher. However, because the traditional
manipulator has too many driving components, complex control, and a lack of versatility, it is difficult to solve the contradiction between the degrees of freedom, weight, flexibility, and grasping ability. The existing
manipulator has difficulty meeting the diversified requirements of a simple structure, a large grasping force, and the ability to automatically adapt to shape when grasping an object. To solve this problem, we designed a kind of underactuated
manipulator with a simple structure and strong generality based on the metamorphic mechanism principle. First, the mechanism of the
manipulator was designed on the basis of the metamorphic mechanism principle, and a kinematics analysis was carried out. Then, the genetic algorithm was used to optimize the size parameters of the
manipulator finger structure. Finally, for different shapes of objects, the design of the control circuit binding force feedback control was carried out with a grasping experiment. The experimental results show that the manipulator has simple control and can grasp objects of different sizes, positions, and shapes.