Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator

Xiangpeng Lei; Shufeng Tang; Wei Liang; Zirui Guo

doi:10.16578/j.issn.1004.2539.2020.11.009

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Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator

Design· Calculation | 更新时间：2022-11-10

- Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator
- Journal of Mechanical Transmission Vol. 44, Issue 11, Pages: 53-58(2020)
- 作者机构：
  
  1.内蒙古工业大学机械工程学院，内蒙古呼和浩特 010051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.11.009
  CLC：
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雷翔鹏,唐术锋,梁威等.欠驱动多指机械手优化设计与抓取稳定性分析[J].机械传动,2020,44(11):53-58.

Lei Xiangpeng,Tang Shufeng,Liang Wei,et al.Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator[J].Journal of Mechanical Transmission,2020,44(11):53-58.
雷翔鹏,唐术锋,梁威等.欠驱动多指机械手优化设计与抓取稳定性分析[J].机械传动,2020,44(11):53-58. DOI： 10.16578/j.issn.1004.2539.2020.11.009.

Lei Xiangpeng,Tang Shufeng,Liang Wei,et al.Optimization Design and Grasping Stability Analysis of Under-actuated Multi-finger Manipulator[J].Journal of Mechanical Transmission,2020,44(11):53-58. DOI： 10.16578/j.issn.1004.2539.2020.11.009.

摘要

针对欠驱动机械手多模式抓取问题，提出了一种手指可拆卸、具有复合抓取功能的欠驱动机械手。为了研究欠驱动手的抓取性能，分别研制了一种弹簧自适应3指节手指机构和一种双四连杆3指节手指机构，两种手指机构均使用四连杆机构的运动原理。手指的性质对欠驱动机械手的抓取稳定性影响很大，对欠驱动机械手单个手指的属性进行分析，分析了关节接触点位置及接触力对抓取稳定性的影响，提出了接触力及力矩平衡的研究分析方法，探讨了影响抓取稳定性的因素。

Abstract

Aiming at the multi-mode grasping problem of the under-actuated manipulator， an under-actuated manipulator with detachable fingers and composite grasping function is proposed. In order to study the grasping performance of the under-actuated manipulator， a spring-adaptive three-knuckle finger mechanism and a double four-link three-knuckle finger mechanism are developed respectively. Both finger mechanisms use the motion principle of four-link mechanism. The nature of the finger greatly affects the grasp stability of the under-actuated manipulator. The properties of a single finger of an under-actuated manipulator are analyzed， and the influence of the position of the joint contact point and the contact force on the grasp stability is analyzed. A theoretical analysis method of the contact force and moment balance is proposed， and the factors affecting the grasping stability factor are discussed.

关键词

欠驱动机械手手指机构优化设计接触力抓取稳定性

Keywords

Under-actuated manipulatorFinger mechanismOptimization designContact forceGrasping stability

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