新型连杆式欠驱动手指机构分析与设计方法研究与样机研制

The robotic hand design with underactuated finger mechanism (UFM) has the feature of easy-control and easy-operation, and has the ability of adapting its shape by wrapping grasped objects with various shapes and sizes. However, Tendon-actuated mechanisms can be easily built with compact architectures but they can exert only small grasping forces. Underactuated hands with linkage mechanism currently reported in some papers and patents have the disadvantages of complex, big volume and difficult on built and maintain. On the other hand, the methods on analysis and design for UFM still mainly belong to bio-inspired or trial and error methods. Although some literatures are presented on the aspect of design, grasp stability, contact force characteristics, grasp characteristics, etc. of the underactuated finger, the theoretical methods on analysis and design is deficient. For developing underactated finger with compact structure and big grasping force, on the basis of some preliminary works, the project focus on the research of deduce method of equivalent mechanism of underactuated mechanism, and then proposes the analysis and design methods of UFM based on the equivalent mechanisms. The project also researches on the complete analysis methods of grasping stability, and then proposes the rules and methods on designing elastic elements of UFM. Besides, the project should develop and build a novel kind of linkage UFM. The researches of this project has important theoretical significant on the aspect of theoretical analysis and design methods for UFM. The planned novel kind of underactuated finger should has the feature of compact structure, big grasping force, and easy operation, and has broad application prospect in the field of industrial manipulator, humanoid robot, prosthetic limbs, and space robot, etc.

采用欠驱动手指机构的灵巧手控制与操作简单，能自适应抓取不同形状和尺寸的物体。但腱驱动等方式实现的欠驱动手指较难实现大的抓持力。目前见诸文献的各种连杆式欠驱动多指手又存在机构复杂、体积大、制造维护难等缺点。而且欠驱动手指机构的设计与分析主要还是通过仿生或试凑，分析与设计理论有所研究但还很欠缺。为实现结构紧凑、大抓持力的欠驱动拟人手指，本项目在前期研究的基础之上，研究推导欠驱动机构等效机构的方法，并提出基于等效机构的欠驱动手指机构分析与设计方法。研究考虑欠驱动手指机构本身稳定性的抓持稳定性全面分析方法，提出欠驱动手指机构弹性元件的参数设计理论与方法。提出并研制一种新型的连杆式欠驱动机器人手指机构。项目研究在欠驱动手指机构的分析与设计方法方面具有重要的理论研究意义。所实现的结构紧凑、抓持力大、操作简单的新型欠驱动机器人手指，在工业机器人、拟人机器人、人体假肢及航天机器人等领域都有广泛的应用前景。

欠驱动手指机构的灵巧手具有重量轻、控制与操作简单、成本低等优点，而且单个电机的驱动下由多个指节自适应地抓取不同形状和尺寸的物体。但腱驱动等方式实现的欠驱动手指较难实现大的抓持力。目前见诸文献的各种连杆式欠驱动多指手又存在机构复杂、体积大、制造维护难等缺点。而且欠驱动手指机构的设计与分析主要还是通过仿生或试凑，分析与设计理论有所研究但还很欠缺。为实现结构紧凑、大抓持力的欠驱动拟人手指，本项目在前期研究的基础之上，提出一种新型的全转动关节欠驱动手指机构，获得了发明专利授权。提出了一种基于最小阻尼原理对欠驱动手指机构进行简化分析与设计的方法，并基于该方法完成了所提出手指机构的运动学方程的推导与求解、以及工作空间的分析和求解。完成了欠驱动手指机构详细的运动学与静力学仿真分析。研制了三指手样机的设计与制作。所实现的重量轻、抓持力大、结构紧凑、操作简单的新型欠驱动机器人手指，在航天机器人、军用机器人等领域具有重要的应用背景。在工业机器人、拟人机器人、人体假肢等领域也有广泛的应用前景。

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