Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand

Hanlin Sun; Yu Hou

doi:10.16578/j.issn.1004.2539.2021.08.013

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Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand

Design· Calculation | 更新时间：2022-11-10

- Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand
- Journal of Mechanical Transmission Vol. 45, Issue 8, Pages: 90-96(2021)
- 作者机构：
  
  1.武汉科技大学机械自动化学院，湖北武汉 430081
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.08.013
  CLC：
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孙翰林,侯宇.多模式抓取欠驱动手的机构设计与力学分析[J].机械传动,2021,45(08):90-96.

Sun Hanlin,Hou Yu.Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand[J].Journal of Mechanical Transmission,2021,45(08):90-96.
孙翰林,侯宇.多模式抓取欠驱动手的机构设计与力学分析[J].机械传动,2021,45(08):90-96. DOI： 10.16578/j.issn.1004.2539.2021.08.013.

Sun Hanlin,Hou Yu.Mechanism Design and Mechanical Analysis of Multi-mode Grab Underactuated Hand[J].Journal of Mechanical Transmission,2021,45(08):90-96. DOI： 10.16578/j.issn.1004.2539.2021.08.013.

摘要

针对机器人末端执行器机械手多功能化的需求，提出了一种多模式抓取欠驱动手。该机械手基于欠驱动理论，解决了传统复合欠驱动手存在的结构复杂、控制元件多、适应能力不强等缺点。介绍了多模式抓取欠驱动机械手的结构组成和运动过程，建立了欠驱动手的数学模型；根据几何关系对机械手进行运动分析与适应性分析，并求得机械手抓取的参数范围；在不同的抓取模式下，分别对机械手进行受力分析，利用虚功原理，计算出理论输出力。虚拟样机仿真实验表明，该机械手无需安装受力传感器及复杂的控制系统，可实现平夹和包络两种抓取模式，验证了设计的可行性。

Abstract

A multi-mode grab underactuated hand is proposed for the multifunctional requirements of robot end-effector manipulator. Based on the underactuated theory， the manipulator solves the disadvantages of the traditional compound underactuated hand， such as complex structure， many control elements and weak adaptability. The structure and motion process of multi-mode grab underactuated hand are introduced， and the mathematical model of underactuated manipulator is established. According to the geometric relationship of the manipulator motion analysis and adaptability analysis， and the manipulator grab parameters range is solved. Under different grab modes， the manipulator is analyzed respectively， and the virtual work principle is used to calculate the theoretical output force. The simulation results of virtual prototype show that the manipulator does not need to install force sensor and complex control system， and it can realize two grab modes， namely， flat clip and envelope， which verifies the feasibility of the design.

关键词

欠驱动机械手多模式抓取接触力分析虚功原理

Keywords

Underactuated manipulatorMultimode grabContact force analysisVirtual work principle

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