基于气动柔性驱动器FPA的三自由度手指包络抓持力模型研究..docVIP

基于气动柔性驱动器FPA的三自由度手指包络抓持力模型研究 摘要：提出了一种基于气动柔性驱动器(Flexible Pneumatic Actuator, FPA)的三自由度手指指节正压力可控的包络抓持模型。分析了目标物体受力状况，按照手指指节与目标物体之间的各个接触力大小尽量均匀的原则，对目标物体受力进行了优化。建立了关于手指指节接触点所受到的正压力及摩擦力与关节驱动器FPA输出力之间的力学模型。使用两个触力传感器，应用杠杆原理建立了接触点正压力及其作用点的测量模型。提出了指节接触点正压力的双闭环控制策略，设置了补偿器对摩擦力进行实时补偿，对压力反馈信号进行微分处理，用以消除压力检测信号中所包含的高频噪声。搭建了实验平台，实验结果表明：手指正压力动态响应时间为约1s，误差稳定在±0.5N范围。 关键词：气动柔性驱动器FPA， 三自由度手指， 包络抓持，指节力模型 中国分类号：TP24 文献标识码： A Research on static model about envelop grasping of 3-DOF finger based on flexible pneumatic actuator FPA Abstract: Envelop grasping model based on 3-DOF fingers driven by a flexible pneumatic actuator (FPA) directly is proposed. Based on the principle of equalization, the interaction forces between the object and knuckle is optimized. The static model about the values of the pressured air in FPAs and the positive pressure on knuckle or correlative friction force is built. The measure model about the positive pressure and its position, based on leverage principle depending on two touch-force sensors, is obtained. Using a series dual loops control method and the compensator about friction force, the positive pressure can be controlled precisely. In order to filtrate the high-frequency noise, the feedback signal of the pressured air in FPA is processed by differential analysis. The experimental results show that dynamic response time of the positive pressure is about 1s and the steady-state deviation is less than ±0.5N. Key words: flexible pneumatic actuator FPA, 3- DOF finger, envelop grasping , static model about knuckle 0 前言 在机器人多指手包络抓取中，多指手与目标物体之间有多个接触点，Reuleaux[1]早在1875年就证明了在二维平面的情况下 ，要达到形封闭需要至少4个光滑接触点，或者3点有摩擦点接触或软指接触； Markenscoff[2-4]提出了3维空间结构物体进行形封闭抓取至少需要7个无摩擦接触点，或者4点有摩擦点接触或软指接触。 北京工业大学李剑峰[5]等对灵巧手包络抓持的鲁棒性做了分析和探讨，给出了具有一般意义的抓持鲁棒性存在的充分必要条件。M. Yashima[6]等在假设接触点为光滑无摩擦力的前提下以包络抓持的方式实现对目标物体的操作；Lionel Birglen[7]等同样在假设接触点为光滑无摩擦力的前提下提出了欠驱动机械手的输出力模型；光滑接触约束的假设简化了抓取力的分析，实际抓取中存在摩擦是必然的，这种保守的假设往往会得出不合实际的结论。Masahiro Kondo[8-9]等通过多个触觉传感器感知目标物体的在多指手中的位姿信息并通过包络抓持的方式实现对