基于关节全驱动的液压手指机构设计与仿真

摘要

针对现有机器人多指手负载能力较低的问题，设计了关节全驱动的新型液压手指机构模型。将基于连杆的可变四边形机构和液压驱动器集成在手指上，实现了手指机构的运动。根据抓取操作的特点搭建了手指机构的液压驱动系统，推导了手指机构的运动学方程并建立了手指关节角与液压缸行程的运动学关系，利用Manab计算出手指机构的包络空间。在理论分析基础上建立了ADAMS／View环境下的手指机构仿真模型，进行了抓取运动学仿真分析。通过理论分析与仿真验证相结合的方法，证明了多指手关节液压全驱动策略的可行性和有效性，仿真结果符合既定的设%For improving the load capacity of the present muhi-fingered hand, a new hydraulic finger mechanism based on full-driven joints is designed. A changeable four-bar mechanism and a hydraulic unit driver are integrated in one finger to realize the movement. According to the grasping characteristics, the hydraulic driven system is de- signed. Then the kinematical equation of the finger mechanism is deduced. The kinematical relations between joint angles and hydraulic cylinder stroke are established, and the envelope space is worked out by Matlab. Finally, the finger mechanism model is constructed in ADAMS/View, and the grasp simulation is carried out. The analysis results verify the feasibility and effectiveness of the full-hydraulic driven strategy, and satisfy the desired requirements.