全转动关节欠驱动手指机构及其运动学分析

被引：8

作者：

吴立成

孔岩萱

李霞丽

机构：

[1] 中央民族大学信息工程学院

来源：

机械工程学报 | 2017年 / 53卷 / 01期

关键词：

欠驱动手指机构; 等效机构; 运动学分析;

D O I：

暂无

中图分类号：

TP242 [机器人]; TH112 [机构学];

学科分类号：

1111 ; 080203 ;

摘要：

欠驱动机器人手指结构紧凑、抓持力大、操作简单,在工业机器人、拟人机器人、人体假肢及航天机器人等领域都具有广泛的应用前景。提出一种新型的全转动关节连杆式欠驱动机器人手指机构,提出一种基于最小阻尼原理推导欠驱动手指机构在不同抓持状态下(即与目标物体的不同接触情况下)的等效机构,进而基于等效机构实现运动学分析的方法。采用所提出的方法推导了所提出机构的运动学方程和极限运动位置求解方程。最后通过Matlab编程进行数值仿真,验证了方法的正确性和有效性。仿真结果表明所提出的欠驱动结构具有较大的可达空间,并可实现良好的抓物轨迹。

引用

页码：47 / 54

页数：8

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