单自由度平面六杆手指机构解域综合方法-农业机械学报.PDF

20 18 年9 月 农 业 机 械 学 报 第49 卷 第9 期 doi:10.6041/ j.issn.1000鄄1298.2018.09.043 单自由度平面六杆手指机构解域综合方法 韩建友摇 蔡营疆 (北京科技大学机械工程学院,北京 100083) 摘要:为适应机器人手指多用途、多尺寸的设计要求,提出一种基于单自由度平面六杆机构解域的手指机构设计综 合方法。 根据平面六杆机构4个给定的运动位置可得到无穷多机构解,将这些机构解表示在一个平面域上,该域 称为解域。 本文给定平面六杆机构的4个运动位置,限制待求铰链点的坐标范围,通过给出的铰链点曲线求解方 法,得到铰链点解曲线和可行段,对可行段进行分段,得到解域,在此基础上,引入力传递性能指标K,限定其范围, 对解域进行进一步的筛选,得到新的可行解域,并得到K在解域上的分布规律,最终可在新解域中选择满足全部条 件的机构作为机构解。 K值的引入使得所得的机构具有较好的力学性能。 解域上的每一点均为满足要求的平面 六杆机构,可根据设计的目的(如仿生手指、康复手指等)选择不同的机构进行手指的设计。 从新可行解域中选择 一个机构设计手指样机,该样机证明了所提出方法的正确性和有效性。 关键词:解域;手指;平面六杆机构;力传递性能指标 中图分类号:TP241 文献标识码:A 文章编号:1000鄄1298(2018)09鄄0367鄄07 Solution鄄region Synthesis Method of Single鄄degree鄄of鄄freedom Planar Six鄄bar Mechanisms for Robotic Fingers HANJianyou摇 CAI Yingjiang (School of Mechanical Engineering,University of Science and Technology Beijing,Beijing 100083,China) Abstract:A solution region design method based on planar six鄄bar mechanisms for robotic fingers was proposed to achievethegoal of obtaining diversifiedfingerswith different dimensions. Aninfinitenumber of solutions of planar six鄄bar mechanisms can be obtained by predefining four moving positions,and all these solutions can be expressed on a planar region,which was called the solution region. Firstly,the planar six鄄bar mechanisms had five moving links,and three of them simulated the proximal,middle and the distal knuckle of human fingers, respectively. Four moving positions of the three links, which expressed the bending motion of a finger,were predefined. The coordinates of unknown joints,which were located inside the finger,were limited to restrict them in the kunckle. According to t