灵巧节能的单自由度仿真机械手驱动机构设计

doi:10.16578/j.issn.1004.2539.2014.06.041

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灵巧节能的单自由度仿真机械手驱动机构设计

更新时间：2025-04-03

- 灵巧节能的单自由度仿真机械手驱动机构设计
- Vol. 38, Issue 6, Pages: 48-52(2014)
- 作者机构：
  
  沈阳建筑大学交通与机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2014.06.041
  CLC： TP241
- Published：2014
- 稿件说明：
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[1]韩泽光,周莉,郝瑞琴.灵巧节能的单自由度仿真机械手驱动机构设计[J].机械传动,2014,38(06):48-52.

[J]. 2014, 38(6): 48-52.
[1]韩泽光,周莉,郝瑞琴.灵巧节能的单自由度仿真机械手驱动机构设计[J].机械传动,2014,38(06):48-52. DOI： 10.16578/j.issn.1004.2539.2014.06.041.

[J]. 2014, 38(6): 48-52. DOI： 10.16578/j.issn.1004.2539.2014.06.041.

摘要

为解决机器人自动装配、医学康复断指再造等多接触抓取装置驱动元件多

结构复杂且笨重的问题

设计了一种灵巧节能的单自由度仿真机械手的驱动机构

推导了各指节间的运动关系方程

利用ADAMS建立了其参数化仿真模型

分析了特定构件尺寸的机构运动轨迹与人手抓取轨迹的差距

进而提出满足人手抓取轨迹、驱动力矩小、各构件尺寸小的驱动机构的优化数学模型

经NSGA-II算法获得与人手抓取轨迹相差无几的多个最优方案

并用参数化模型进行了验证。设计结果表明

所提出的驱动机构仅需一个驱动元件即能实现手指各关节的灵巧运动

且结构尺寸小

满足节能环保的要求

是仿真机械手设计的新尝试。

Abstract

A kind of driving mechanism of skillful energy saving single degree of freedom simulation manipulator is designed to solve the problem of driving element more

structure complex and bulky of multi-touch capture device

such as robotic assembly and medical finger recycling.The equation of motion relation between knuckles is deduced

the parametric simulation model is established by using ADAMS.The difference between mechanism motion trajectory of specific component size and hand grab trajectory is analyzed

and the optimal mathematical model meeting hand grab trajectory

smallest driving torque and smallest component length is presented.Several optimal schemes

which are somewhat like hand grab trajectory are obtained by using NSGA-II algorithm and it is verified by parametric simulation model.The design solutions show that

the skillful motion among knuckles of proposed driving mechanism can be easily completed through a driving element.Thus

the size of the mechanism is not only smaller

but also energy saving and environment protection.It is a new method in simulation manipulator design.

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