基于ADAMS的欠驱动三指机械手虚拟设计及参数优化

Virtual Design and Parameter Optimization of Under-actuated Three-Finger Manipulator based on ADAMS

摘要:

针对现有一款模块化欠驱动三指机械手本身的结构特征不完善，所能实现的抓取任务、承载能力有限等问题，设计了一种弹簧被动自适应手指机构。根据欠驱动手指的结构、构件的尺寸、驱动规律及构件间相对关系，以单指为例采用D-H坐标法建立了运动学模型；利用ADAMS软件对该欠驱动手的3种抓取构型进行运动学仿真，验证了结构设计的合理性；在满足运动学模型准确性的前提下，选出1种抓取构型，以中心滑盘连接手指处所受应力最小为目标，对基指节内部推杆的长度及摆动的角度进行参数优化，有效地增强了欠驱动手抓取的多样性，可为该机械手的设计研究提供可靠的理论依据。

Abstract:

Aiming at the problems of an existing modular under-actuated three-finger manipulator with imperfect structural features, achievable grasping tasks, and limited bearing capacity, a spring passive adaptive finger mechanism was designed. According to the structure of the under-actuated finger, the size of the component, the driving law and the relative relationship between the components, a kinematic model was established by using the D-H coordinate method with a single finger as an example. Kinematics simulation of the two grasping configurations of the under-driven hand using ADAMS software verifies the rationality of the structural design. Under the premise of satisfying the accuracy of the kinematics model, a grasping configuration was selected, with the goal of minimizing the stress on the fingers connected to the central sliding plate, and parameter optimization of the length and swing angle of the push rod inside the base knuckle , Effectively enhance the diversity of under-actuated hand grasping, and provide a reliable theoretical basis for the design and research of the manipulator.