二关节连杆欠驱动机械手抓取稳定性分析

摘要

分析了关节接触点位置及接触力对抓取稳定性的影响，提出了接触力及力矩平衡的理论研究分析方法，探讨了影响稳定性的因素。同时在 ADAMS中对欠驱动机械手的模型进行了仿真分析。仿真结果与理论分析结果基本一致，确定了抓取稳定的必要条件，为欠驱动机构稳定性分析提供了一种新方法。%This article analyzed the impact of the joint contact point position and contact force on the robot stability ,proposed the method analyzing the contact force and moment equilibrium ,to explore the factors influencing the stability of robot .Meanwhile ,in order to validate the accuracy and reliability of the theoretical derivation and analysis ,the model of the under-actuated robot was set up in ADAMS ,and the simulation analysis was conducted .The simulation results were basically consistent with the theoretical re-sults ,and the stable grab conditions were got .This study may provide an analysis method for stability analysis of under-actuated robot .