Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism

Piao Jinsheng; Zhang Jianchuan; Pan Wei; Ge Yunfeng; Lu Changhou

doi:10.16578/j.issn.1004.2539.2023.12.009

您当前的位置：

首页 >

文章列表页 >

Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism

Design· Calculation | 更新时间：2023-12-21

- Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism
- Journal of Mechanical Transmission Vol. 47, Issue 12, Pages: 60-68(2023)
- 作者机构：
  
  1.山东大学机械工程学院，山东济南 250061
  2.山东大学高效洁净机械制造教育部重点实验室，山东济南 250061
  3.山东特联信息科技有限公司，山东济南 250101
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.12.009
  CLC：
- Published：15 December 2023，
  
  Received：02 February 2023，
  
  Revised：07 June 2023，
扫描看全文
朴金生,张建川,潘伟等.基于反推式绳轮机构的欠驱动三指节机械手结构设计与静力分析[J].机械传动,2023,47(12):60-68.

Piao Jinsheng,Zhang Jianchuan,Pan Wei,et al.Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism[J].Journal of Mechanical Transmission,2023,47(12):60-68.
朴金生,张建川,潘伟等.基于反推式绳轮机构的欠驱动三指节机械手结构设计与静力分析[J].机械传动,2023,47(12):60-68. DOI： 10.16578/j.issn.1004.2539.2023.12.009.

Piao Jinsheng,Zhang Jianchuan,Pan Wei,et al.Structure Design and Static Analysis of the Underactuated Three-knuckle Manipulator with a Reverse Rope-pulley Mechanism[J].Journal of Mechanical Transmission,2023,47(12):60-68. DOI： 10.16578/j.issn.1004.2539.2023.12.009.

摘要

基于连杆式和绳轮式欠驱动机构的特点，提出了一种反推式绳轮新机构。介绍了反推式绳轮机构的结构原理及运动特性，完成了用于物料袋抓取的新机构三指节机械手的结构设计。首先，基于平面力系平衡方法对三指节机械手进行静力学分析，采用Adams软件静力学仿真初步验证了静力学分析的准确性，并与连杆式及传统绳轮式结构进行对比仿真，验证了新机构力转换率高的特性；然后，对三指节机械手进行了简化建模、运动学包络抓取仿真和静力学抓取接触力仿真。结果表明，三指节机械手具备移动式包络抓取的能力；但当前设计存在接触力分布不均的缺点，需要进一步优化。

Abstract

Based on the characteristics of the link structure and the rope pulley structure

a new reverse rope-pulley mechanism is proposed. The principle and motion characteristics of the new mechanism are introduced

and the structure of a three-knuckle manipulator with new mechanism for bag grabbing is designed. Firstly

the static analysis of the three-knuckle manipulator is carried out based on the method of equilibrium of plane forces. The accuracy of the static analysis is verified by Adams statics simulation

and the characteristic of higher force conversion rate is verified by the comparison and simulation with the link structure and rope pulley structure. Secondly

simplified modeling

kinematic envelope grasping simulation and static grasping contact force simulation are carried out for the three-knuckle manipulator. The mobile envelope grasping ability of the three-knuckle manipulator is shown by the simulation results. However

the disadvantage of uneven contact force distribution needs to be optimized for the current design.

关键词

欠驱动机构绳驱静力学分析运动学仿真静力学仿真

Keywords

Underactuated mechanismCable-drivenStatic analysisKinematic simulationStatic simulation

references

张国龙，张杰，蒋亚南，等.机器人力控末端执行器综述［J］.工程设计学报，2018，25（6）：617-629.

ZHANG Guolong，ZHANG Jie，JIANG Yanan，et al.Review of robotic end-effector with force control［J］.Chinese Journal of Engineering Design，2018，25（6）：617-629.

GOSSELIN C M，LALIBERTE T.Underactuated mechanical finger with return actuation：US 5762390［P］.1998-06-09.

ZHAO Y C，LEI Q J，LIU J X，et al.Design of an underactuated robotic hand［C］//2020 3rd International Conference on Control and Robots（ICCR），2020，Tokyo，Japan：IEEE，2020：100-106.

葛震浩.三指欠驱动机械手的研究［D］.西安：西安电子科技大学，2019：9-15.

GE Zhenhao.Research on three-fingered underactuated manipulator ［D］.Xi'an：Xidian University，2019：9-15.

罗超，张文增，王子越，等.直线平夹自适应机器人手抓取分析与实验［J］.机械工程学报，2021，57（19）：61-69.

LUO Chao，ZHANG Wenzeng，WANG Ziyue，et al.Grasping analysis and experiment of a linear-parallel and self-adaptive robot hand［J］.Journal of Mechanical Engineering，2021，57（19）：61-69.

鲍佳蕾，韩康，郑承谱，等.基于变胞理论的欠驱动机械手设计［J］.机械传动，2020，44（1）：90-93.

BAO Jialei，HAN Kang，ZHENG Chengpu，et al.Design of underactuated manipulator based on metamorphic theory［J］.Journal of Mechanical Transmission，2020，44（1）：90-93.

杨占力，赵松，刘今越，等.基于关节约束的欠驱动五指灵巧手设计与验证［J］.机械设计，2020，37（9）：42-48.

YANG Zhanli，ZHAO Song，LIU Jinyue，et al.Design and verification of an underactuated five-finger dexterous hand based on joint constraints［J］.Journal of Machine Design，2020，37（9）：42-48.

马涛，杨冬，赵海文，等.一种新型欠驱动机械手爪的抓取分析和优化设计［J］.机器人，2020，42（3）：354-364.

MA Tao，YANG Dong，ZHAO Haiwen，et al.Grasp analysis and optimal design of a new underactuated manipulator［J］.Robot，2020，42（3）：354-364.

AUKES D，KIM S，GARCIA P，et al.Selectively compliant underactuated hand for mobile manipulation［C］//2012 IEEE International Conference on Robotics and Automation（ICRA），2012，St. Paul，USA：IEEE，2012：2824-2829.

赵思宇.一种欠驱动机械手设计及抓取规划研究［D］.哈尔滨：哈尔滨工业大学，2019：29-35.

ZHAO Siyu.Research on design of an underactuated hand and grasp planning［D］.Harbin：Harbin Institute of Technology，2019：29-35.

LI W Y，CHEN P，BAI D C，et al.Modularization of 2-and 3-DoF coupled tendon-driven joints［J］.IEEE Transactions on Robotics，2021，37（3）：905-917.

黄勇.绳轮式欠驱动机械手设计与实验研究［D］.哈尔滨：哈尔滨工业大学，2017：32-37.

HUANG Yong.Design and experiment research of an underactuated hand with rope and pulley［D］.Harbin：Harbin Institute of Technology，2017：32-37.

BIRGLEN L，GOSSELIN C M.Kinetostatic analysis of underactuated fingers［J］.IEEE Transactions on Robotics and Automation，2004，20（2）：211-221.

BIRGLEN L，LALIBERTÉ T，GOSSELIN C M.Underactuated robotic hands［M］.Heidelberg：Springer Berlin，2008：33-50.

何艳涛.一种绳驱式欠驱动三指灵巧手的研究［D］.哈尔滨：哈尔滨工业大学，2014：61-70.

HE Yantao.Research on one underactuated three-finger dexterous hand drived by tendon［D］.Harbin：Harbin Institute of Technology，2014：61-70.

SCHUURMANS J，LINDE R Q，PLETTENBURG D H，et al.Grasp force optimization in the design of an underactuated robotic hand［C］//2007 IEEE 10th International Conference on Rehabilitation Robotics，2007，Noordwijk，Netherlands：IEEE，2007：776-782.

CABÁS R，CABÁS L M，BALAGUER C.Optimized design of the underactuated robotic hand［C］//2006 IEEE International Conference on Robotics and Automation，2006，Orlando，USA：IEEE，2006：982-987.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Design and Experiment of End-effectors for Picking Navel Oranges Based on the Underactuated Principle

Structure Design and Simulation Analysis of the Lower Limb Wearable Walking Aid

Design of Single Degree of an Intersecting Line Translational Mechanism

Design and Modal Analysis of a New Type Cycloidal Reducer with Movable Output-pins

Research on Kinematics of Vehicle Vibration Test Benches Based on a 6-UPS Parallel Mechanism

Related Author

Zhang Wan

Hu Zhikui

Liu Jing

Jiang Yanhong

Yan Peifeng

Wang Xin

Ye Meiyan

Luo Yufeng

Related Institution

School of Mechanical and Electrical Engineering, Jiangxi University of Science and Technology

Qinggong College, North China University of Science and Technology

College of Mechanical Engineering, North China University of Science and Technology

School of Advanced Manufacturing, Nanchang University

School of Mechanical and Electrical Engineering, East China Jiaotong University

⁰