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针对欠驱动多模式抓取问题,提出了一种具有平夹自适应复合抓取模式的8自由度机械手(PASA手).为了研究PASA手的抓取性能,提出了抓取姿态与稳定性分析模型.根据被抓取物体的位置、尺寸和大小的不同,PASA手能够执行平夹(PA)用于精确抓取,自适应包络用于力量型抓取,或者像人手那样既能平夹又能自适应抓取(PASA).不同抓取模式之间的切换是自动且自适应的.详细讨论了PASA手的运动、抓取力分布和在不同外力下基于势能的抓取稳定性分析.对各种状态下手指接触力进行了测量,并对不同的物体进行了抓取实验.尽管被抓取对象形状、大小各异,PASA手均能牢固抓取.实验结果表明PASA手具有可靠性和广泛适用性.
In order to solve the problem of underactuated multi-mode grasping, an 8-DOF manipulator (PASA hand) with flat-clamp adaptive compound grasping mode was proposed.In order to study the grasping performance of PASA hand, the grasping attitude and stability analysis Model. Depending on the position, size and size of the object being picked, the PASA hand can perform a flat gripper (PA) for precise grip, an adaptive wrapper for force gripper, or both as a manual grip But also Adaptive PASA (PASA) .The switching between different picking patterns is automatic and adaptive.The motion and grasping force distribution of PASA hand and the grasping stability analysis based on potential energy under different external force are discussed in detail. The finger contact force was measured under various conditions, and different objects were grasped.Although the shape and size of the objects were grasped, PASA hand can be firmly grasped.The experimental results show that the PASA hand is reliable Sexuality and wide applicability.