一种连杆式欠驱动机械手指的抓取仿真

doi:10.16182/j.issn1004731x.joss.17-0054

系统仿真学报 ›› 2019, Vol. 31 ›› Issue (1): 81-86.doi: 10.16182/j.issn1004731x.joss.17-0054

一种连杆式欠驱动机械手指的抓取仿真

李霞丽, 兰天一, 吴立成

中央民族大学信息工程学院,北京 100081

收稿日期:2017-01-11 修回日期:2017-05-31 出版日期:2019-01-08 发布日期:2019-04-16
作者简介:李霞丽(1979-),女,河南周口,硕士,副教授,研究方向为智能系统及其应用;兰天一(1992-),男,内蒙古赤峰,硕士生,研究方向为智能机器人;吴立成(1972-),男,江西宜春,博士,教授,研究方向为智能机器人、人工智能。
基金资助:
国家自然科学基金(51375504,61602539)

Grasping Simulation of Linkage Underactuated Mechanical Finger

Li Xiali, Lan Tianyi, Wu Licheng

School of Information Engineering, Minzu University of Chin, Beijing 100081, China

Received:2017-01-11 Revised:2017-05-31 Online:2019-01-08 Published:2019-04-16

摘要/Abstract

摘要： 为验证一种连杆式欠驱动机械手指的设计合理性和各项性能,采用Solidworks针对不同位置不同大小物体的多种情况,进行手指抓取物体过程的详细仿真,并分析手指的抓取范围、抓持过程中的欠驱动特性、运动连贯性及力学特性等。该机械手指可自适应抓取物体。仿真结果表明：该手指可实现均匀且连贯的抓取;可抓取直径范围在手指长度0.106~0.851倍之间的圆柱物体;使用一般小型电机驱动可产生5倍于人手的抓持力。通过仿真,实现了手指机构及其尺寸设计合理性和各项性能的分析与验证。

关键词: 机械手指, 欠驱动, 抓取仿真, Solidworks

Abstract: For verifying the design rationality and the property of a linkage underactuated finger, Solidworks is utilized to simulate the grasp operation of the finger with some different objects at the different positions. The simulations can be used to analyze the grasping range, the underactuated characteristic, the uniformity of grasp motion and the mechanical property. The finger mechanism contains springs that brings adaptive grasp capability of different objects. The results show that the finger can make suitable capability for grasping the objects whose size can vary from 0.106 to 0.851 times of the finger length. And the finger can give fivefold grasping force of general human by using the small electromotor. Through the simulations, the effectiveness and performance of the finger is analyzed and verified.

Key words: mechanical finger, underactuated mechanism, grasping simulation, solidworks

中图分类号:

TP24

李霞丽, 兰天一, 吴立成. 一种连杆式欠驱动机械手指的抓取仿真[J]. 系统仿真学报, 2019, 31(1): 81-86.

Li Xiali, Lan Tianyi, Wu Licheng. Grasping Simulation of Linkage Underactuated Mechanical Finger[J]. Journal of System Simulation, 2019, 31(1): 81-86.

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一种连杆式欠驱动机械手指的抓取仿真

Grasping Simulation of Linkage Underactuated Mechanical Finger

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