Kinematics and Statics Analysis of Single Drive Multi-mode Metamorphic Manipulators

Chang Boyan; Cui Dinghui; Liang Dong; Jin Guoguang

doi:10.16578/j.issn.1004.2539.2023.07.008

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Kinematics and Statics Analysis of Single Drive Multi-mode Metamorphic Manipulators

Design· Calculation | 更新时间：2023-08-14

- Kinematics and Statics Analysis of Single Drive Multi-mode Metamorphic Manipulators
- Journal of Mechanical Transmission Vol. 47, Issue 7, Pages: 49-57(2023)
- 作者机构：
  
  1.天津工业大学机械工程学院，天津 300387
  2.天津工业大学天津市现代机电装备技术重点实验室，天津 300387
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.07.008
  CLC：
- Published：15 July 2023，
  
  Received：17 May 2022，
  
  Revised：08 June 2022，
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畅博彦,崔鼎辉,梁栋等.单驱动多模式变胞机械手运动学与静力学分析[J].机械传动,2023,47(07):49-57.

Chang Boyan,Cui Dinghui,Liang Dong,et al.Kinematics and Statics Analysis of Single Drive Multi-mode Metamorphic Manipulators[J].Journal of Mechanical Transmission,2023,47(07):49-57.
畅博彦,崔鼎辉,梁栋等.单驱动多模式变胞机械手运动学与静力学分析[J].机械传动,2023,47(07):49-57. DOI： 10.16578/j.issn.1004.2539.2023.07.008.

Chang Boyan,Cui Dinghui,Liang Dong,et al.Kinematics and Statics Analysis of Single Drive Multi-mode Metamorphic Manipulators[J].Journal of Mechanical Transmission,2023,47(07):49-57. DOI： 10.16578/j.issn.1004.2539.2023.07.008.

摘要

为了以较少的驱动器实现对目标物体的精确抓取，将变胞机构与筝形直线机构相结合，设计出一种单驱动多抓取模式变胞机械手。机械手通过1个电动机驱动6个手指关节，具有线性平行抓取和自适应包络抓取两种工作模式。首先，基于最小阻力定律推导出变胞机械手不同构态下的等效机构，利用拓扑图描述和分析机械手各构态的拓扑结构变化，建立机械手不同构态下的运动学模型；其次，基于虚功原理建立机械手各指节接触力与输入力之间的关系，并以此为基础，分析弹性元件参数对包络抓取稳定性和各指节接触力的影响，对弹性元件的弹性系数进行优化设计；最后，通过数值计算与虚拟仿真相结合的方式验证所建静力学模型的正确性，为该型变胞机械手的设计和应用提供参考依据。

Abstract

In order to achieve accurate grasping of the target object with fewer drives

a metamorphic manipulator with single drive and multi-mode is proposed by combining metamorphic principle with the kite-straight-line mechanism. The manipulator can change its two working modes including linear parallel grasping and adaptive envelope grasping by one motor. Firstly

the equivalent mechanism of the metamorphic manipulator in different configurations is derived based on the law of minimum resistance. Variable topological structures are described using topology diagram and corresponding kinematic models of the manipulator in different configurations are established. Secondly

the relationship between the contact force of each knuckle and the input force of the manipulator is established according to the principle of virtual work. The elastic coefficient of the elastic element is optimized by analyzing the influence relationship between the elastic element and the envelope grasping stability. Finally

the correctness of the proposed static model is verified through a combination of numerical calculation and virtual simulation

which can provide reference for the design and application of this type of metamorphic manipulator.

关键词

变胞机构单驱动机械手运动学静力学

Keywords

Metamorphic mechanismSingle driveManipulatorKinematicsStatics

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