弹性霍肯连杆直线平夹自适应机器人手研制

刘彦恺; 张文增

doi:10.16578/j.issn.1004.2539.2022.08.025

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弹性霍肯连杆直线平夹自适应机器人手研制

开发应用 | 更新时间：2022-09-23

- 弹性霍肯连杆直线平夹自适应机器人手研制
- Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens Linkage
- 机械传动 2022年46卷第8期页码：162-166
- 作者机构：
  
  1.北京航空航天大学机械工程及自动化学院，北京 100191
  2.清华大学机械工程系，北京 100084
- 作者简介：
  
  刘彦恺（2002— ），男，河南郑州人，学士；研究领域为机械工程及自动化。
  张文增（1975— ），男，贵州凯里人，博士，副教授；研究领域为机器人技术、机械设计与制造、机器人手、视觉检测。
- 基金信息：
  
  国家重点研发计划(2017YFE0113200)
- DOI：10.16578/j.issn.1004.2539.2022.08.025
  中图分类号：
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刘彦恺,张文增.弹性霍肯连杆直线平夹自适应机器人手研制[J].机械传动,2022,46(08):162-166.

Liu Yankai,Zhang Wenzeng.Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens Linkage[J].Journal of Mechanical Transmission,2022,46(08):162-166.
刘彦恺,张文增.弹性霍肯连杆直线平夹自适应机器人手研制[J].机械传动,2022,46(08):162-166. DOI： 10.16578/j.issn.1004.2539.2022.08.025.

Liu Yankai,Zhang Wenzeng.Development of Robot Hands for Linear Parallel Pinching and Self-adaptive Grasping with Springs and Hoeckens Linkage[J].Journal of Mechanical Transmission,2022,46(08):162-166. DOI： 10.16578/j.issn.1004.2539.2022.08.025.

摘要

平行夹持是机器人手重要的抓取模式，但由于其末端指段沿圆弧轨迹运动，因此，机器人手在桌面上夹持物体时需要机械臂配合升降，从而增加了其对不同尺寸物体的抓取难度。针对此问题，介绍了一种末端指段呈直线轨迹平动的直线平行夹持模式；基于该模式，提出了一种基于霍肯连杆机构实现的直线平夹自适应手指（SHKL手指）。SHKL手指利用霍肯连杆机构实现末端关节直线运动，利用同向等速的双平行四连杆机构实现末端指段相对手掌姿态固定，利用弹性关节、弹簧和限位等实现自适应抓取。理论分析与实验结果表明，SHKL手指具有直线平夹与自适应抓取功能，抓取稳定，控制容易。

Abstract

Parallel pinching is an important grasping mode of robot hands. However，because the end phalange moves along the arc track，the robot hand needs the manipulator to cooperate with the lifting when pinching objects on the desktop，which increases the difficulty of grasping objects of different sizes. To solve this problem，a linear parallel pinching mode is introduced in which the end phalange is translational in a linear trajectory. Based on this model，a SHKL finger，for linear parallel pinching and adaptive grasping based on springs and Hoeckens linkage is proposed. The SHKL finger uses Hoeckens linkage to realize the linear movement of the end joint，uses double parallel four-bar linkage with the same direction and speed to realize the attitude fixation of the end phalange relative to the palm，and uses elastic joints，springs and limits to realize the self-adaptive grasping. The theoretical analysis and experimental results show that the SHKL hand has the functions of linear parallel pinching and self-adaptive grasping. Its grasping is stable and its control is easy.

关键词

机器人手欠驱动手指直线平行夹持自适应抓取霍肯连杆

Keywords

Robot handUnderactuated fingerLinear parallel pinchingSelf-adaptive graspingHoeckens linkage

references

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