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为解决机器人自动装配、医学康复断指再造等多接触抓取装置驱动元件多,结构复杂且笨重的问题,设计了一种灵巧节能的单自由度仿真机械手的驱动机构,推导了各指节间的运动关系方程,利用ADAMS建立了其参数化仿真模型,分析了特定构件尺寸的机构运动轨迹与人手抓取轨迹的差距,进而提出满足人手抓取轨迹、驱动力矩小、各构件尺寸小的驱动机构的优化数学模型,经NSGA-II算法获得与人手抓取轨迹相差无几的多个最优方案,并用参数化模型进行了验证。设计结果表明,所提出的驱动机构仅需一个驱动元件即能实现手指各关节的灵巧运动,且结构尺寸小,满足节能环保的要求,是仿真机械手设计的新尝试。
In order to solve the problems of multi-contact gripping device such as robotic auto-assembly, medical rehabilitation finger-cutting rebuild and so on, the structure is complex and cumbersome, a dexterous and energy-saving driving mechanism of single degree of freedom simulation robot is designed. The kinematic equation of ADAMS was established and its parameterized simulation model was established. The difference between the trajectory of the mechanism and the human hand was analyzed. The proposed method was also proposed to meet the human hand crawling trajectory, the driving torque was small and the size of each component was small The optimized mathematical model of the mechanism is obtained by NSGA-II algorithm, which has almost the same trajectory as human hand, and is validated by parametric model. The design results show that the proposed driving mechanism only needs one driving element to realize the smart movement of each finger joints, and the structure size is small to meet the requirements of energy saving and environmental protection, which is a new attempt to simulate the robot design.