连杆驱动式9自由度3指灵巧手的结构设计与性能研究
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摘要
本文以机器人灵巧手为研究对象，在对国内外研究现状进行深入分析的基础上，主要研究九自由度三指灵巧手的结构优化设计和抓取性能两个方面。
首先从各个方面对机器人灵巧手的诸多设计元素进行详细的分析与论证，其中传动方式是结构设计的关键，也是灵巧手结构设计的难点；本文在具体分析传统的传动方式后提出连杆传动灵巧手指结构，这种灵巧手指结构和传统方式相比有明显的优势；
其次对该新型手指结构的等效机构模型进行运动学分析，为了保证灵巧手指运动的连续性，要分析灵巧手指机构可能出现的不定位形，据此设计手指机构的运动零点和运动范围等一些运动参数；
灵巧手指的性能和它的三关节的尺寸关系有直接的联系，本文将通过对手指机构的工作空间、灵巧性、运动传递性和负载传递性等性能进行分析，定义相应的性能指标，并在解空间内画出相应的性能图谱；由这些直观的性能图谱，在解空间内找到较优解空间，优化灵巧手指机构的结构参数，并从中拾取一点作为样机设计的结构参数；
灵巧手指设计中各关节的设计是关键。本文将给出一些主要零部件的设计思路和草图；并且优化指间距，将三个手指合理地布置在腕平面上就得到了一个完整的机器人三指灵巧手。
最后通过对人手抓取过程的分析，概括出机械灵巧手的抓取类型；对手进行运动学分析，推导整手雅可比矩阵；分析整个灵巧手的抓取稳定性和抓取灵巧性，并画出一些相应的性能图谱，这些图谱可以用来评价灵巧手的抓取性能
The thesis concerns the issue of robot dexterous hand. Above deep analyzing the present research from home to oversea, two theories are discussed on 9-DOF 3 fingers dexterous hand, which include optimum design of structure and grasp performance.
First, every element of structure design of robot dexterous hand is discussed and demonstrated in detail. The actuating mode is not only the key of structure design but also the difficult point. After analyzing the traditional actuating mode this thesis gives a new structure of dexterous finger with link actuating, and the new structure shows more advantages than the old one's.
Second, the kinematics of the finger's equivalent mechanism is set up. For the moving continuity of the dexterous finger, the change point of the finger mechanism needs discussing. Some kinetic parameters are designed such as the kinetic zero point and the range of motion.
The performance of the finger mechanism has the direct relation with the size of the links. The thesis studies performances of the new dexterous finger such as workspace, performance of dexterity, performance of velocity and force payload etc. Some indexes are defined and some performance atlases are described. For these intuitionistic graphs, the optimum point is found in the solution space as to determine the length of the finger's every link. Then pick up a point to design the dexterous finger's prototype.
The thesis designs the prototype of the dexterous finger. The joint design is the key of dexterous finger's prototype. Some train of thoughts and drawing of important parts of the finger's prototype are provided. Through optimizing the distance between every two fingers, locating the three fingers on wrist reasonably, an integrated dexterous hand comes out.
Finally, grasp styles of dexterous hand are generalized by investigating the process of human grasp. The thesis analyses the kinematics of dexterous hand, induces the Jacobian matrix. The artic emphasizes some attention on the grasp stability and grasp dexterity of the dexterous hand, and provides some
performance atlas. These atlases will be used to judge the grasp performance of the 3 fingers dexterous hand
首先从各个方面对机器人灵巧手的诸多设计元素进行详细的分析与论证，其中传动方式是结构设计的关键，也是灵巧手结构设计的难点；本文在具体分析传统的传动方式后提出连杆传动灵巧手指结构，这种灵巧手指结构和传统方式相比有明显的优势；
其次对该新型手指结构的等效机构模型进行运动学分析，为了保证灵巧手指运动的连续性，要分析灵巧手指机构可能出现的不定位形，据此设计手指机构的运动零点和运动范围等一些运动参数；
灵巧手指的性能和它的三关节的尺寸关系有直接的联系，本文将通过对手指机构的工作空间、灵巧性、运动传递性和负载传递性等性能进行分析，定义相应的性能指标，并在解空间内画出相应的性能图谱；由这些直观的性能图谱，在解空间内找到较优解空间，优化灵巧手指机构的结构参数，并从中拾取一点作为样机设计的结构参数；
灵巧手指设计中各关节的设计是关键。本文将给出一些主要零部件的设计思路和草图；并且优化指间距，将三个手指合理地布置在腕平面上就得到了一个完整的机器人三指灵巧手。
最后通过对人手抓取过程的分析，概括出机械灵巧手的抓取类型；对手进行运动学分析，推导整手雅可比矩阵；分析整个灵巧手的抓取稳定性和抓取灵巧性，并画出一些相应的性能图谱，这些图谱可以用来评价灵巧手的抓取性能
The thesis concerns the issue of robot dexterous hand. Above deep analyzing the present research from home to oversea, two theories are discussed on 9-DOF 3 fingers dexterous hand, which include optimum design of structure and grasp performance.
First, every element of structure design of robot dexterous hand is discussed and demonstrated in detail. The actuating mode is not only the key of structure design but also the difficult point. After analyzing the traditional actuating mode this thesis gives a new structure of dexterous finger with link actuating, and the new structure shows more advantages than the old one's.
Second, the kinematics of the finger's equivalent mechanism is set up. For the moving continuity of the dexterous finger, the change point of the finger mechanism needs discussing. Some kinetic parameters are designed such as the kinetic zero point and the range of motion.
The performance of the finger mechanism has the direct relation with the size of the links. The thesis studies performances of the new dexterous finger such as workspace, performance of dexterity, performance of velocity and force payload etc. Some indexes are defined and some performance atlases are described. For these intuitionistic graphs, the optimum point is found in the solution space as to determine the length of the finger's every link. Then pick up a point to design the dexterous finger's prototype.
The thesis designs the prototype of the dexterous finger. The joint design is the key of dexterous finger's prototype. Some train of thoughts and drawing of important parts of the finger's prototype are provided. Through optimizing the distance between every two fingers, locating the three fingers on wrist reasonably, an integrated dexterous hand comes out.
Finally, grasp styles of dexterous hand are generalized by investigating the process of human grasp. The thesis analyses the kinematics of dexterous hand, induces the Jacobian matrix. The artic emphasizes some attention on the grasp stability and grasp dexterity of the dexterous hand, and provides some
performance atlas. These atlases will be used to judge the grasp performance of the 3 fingers dexterous hand
引文
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3 T. Okada. An Artificial Finger Equipped with Adaptability to An Object. Bull. Electrotech. Lab.,1974,37(2):1078-1090
4 S. C. Jacobsen, J. E. Wood and D. F. Knutti. The Utah/MIT Dexterous Hand: Work in Progress. The International Journal of Robotics Research,1984,3(4):20-30
5 Thomas H. Speeter. Control of the Utah/MIT Dexterous Hand: Hardware and Software Hierarchy. Journal of Robotic Systems,1990,7(5):759-790
6 S. A. Stansfield. Robotic Grasping of Unknown Objects: A Knowledge-Based Approach. The International Journal of Robotics Research,1991, 10(4):314-326
7 毕树生,宗光华.机器人抓具.机器人技术及应用,1996, 5(2):15-18
8 卢江舟,张启先.机器人多指灵巧手的抓取结构分析.中南工业大学学报,1998,29:40-43
9 张建国.Puma/RAL手系统的研制.机器人情报.1989,3(3):7-10
10 Richard M. Crowder. An Anthropomorphic Robotic End-Effecter. Robotics and Autonomous Systems,1991,7:253-268
11 加藤一郎.机械手图册.上海:上海科学技术出版社,1979.9:10-60
12 于建国,马香峰.灵巧手运动学分析.机器人,1993,15(6):35-39
13 徐振中,周华平,张彭.3指机器人手系统协调运动的一种规划方法.中国有色金属学报, 1994,5:438-443
14 张龙,张友良.仿生多指机械手控制策略研究.机械设计与制造工程,2000(1):22-24
15 刘威,宋爱国,黄唯一.基于互联网的遥控机器人系统.机器人技术,2001(3):19-21
16 张惠惠.机器人多指灵巧手爪系统.机器人技术,2000(5):23-25
17 熊有伦等.机器人学.北京:机械工业出版社,1993:56-70 124-128
18 贾伯年,俞朴.传感器技术.南京:东南大学出版社,1990:236-239
19 孙恒,陈作模.机械原理(第五版).北京:高等教育出版社,1997,7:31-32
张永德,刘廷荣,李华敏.机器人多指灵巧手的结构型式的优化分析.机械设计,1999,7:
20 19-22
21 哈尔滨工业大学力伦理学教研组编.理论力学.北京:高等教育出版社,1997.7:24-25
22 理查德·莫雷,李泽湘,夏恩卡·萨思特里.机器人操作的数学导论.北京:机械工业出版社,1998,6:16-18 79-82
23 庐江舟,熊有伦,杨叔子.机器人多指手的控制与传感器技术.机器人,1995,(3):15-17
24 蔡自兴.机器人学.北京:清华大学出版社,2000,9:189-202
25 日本机器人学会编.宗光华,刘海波,程君实,等译.机器人技术手册.北京:科学出版社,1996,7:778-779
26 Paolo Dario, Cecilia Laschi, Maria Chiara Carrozza. An Integrated Approach for the Design and Development of a Grasping and Manipulation System in Humanoid Robotics. Proceedings of the 2000 IEEE/RSJ.,2000,5:854-856
27 高峰.高等机构学.秦皇岛:东北重型机械学院(燕山大学),1987:114-116
28 Yuru Zhang, William A. Gruver, Feng Gao. Dynamic Simplification of Three Degree of Freedom Manipulators with Closed Chains. Robotics and Autonomous Systems,1999,(28): 261-269
29 马香峰.机器人机构学.北京:机械工业出版社,1991,9:68-69
30 刘辛军.并联机器人结构尺寸与性能关系分析及其设计理论研究.[燕山大学博士学位论文].1999:56-57
31 杨基厚.铰链四杆机构空间模型和尺寸型.机械工程学报,1979,2:32-34
32 A. Kumar and K. J. Waldron. The Workspace of A Mechanical Manipulator. ASME Journal of Mechanical Design,1981,103(3):665-672
33 A. Kumar and K. J. Waldron. The Dexterous Workspace. ASME,1980:80-108
34 B. Roth. Performance Evaluation of Manipulators from A Kinematic Viewpoit NBS. Special Publication No.459.Performance Evaluation of Programmable Robots and Manipulators,1975:39-61
35 周建华,黄燕编著. Matlab5.3学习教程.北京:北京大学出版社,2000.12.:70-100
36 T. H. Davies, and K. C. Gupta and B. Roth. Design Consideration for Manipulator Workspace. ASME Journal of Mechanical Design,1982, 104(4):704-712
37 Feng Gao. Physical Model Technique for Design of Robotic Manipulators in Manufacturing Systems. Hebei University of Technology,2001:41-46
Xin-jun Liu, Jinsong Wang and Feng Gao. Performance atlases of the workspace for
38 planar 3-DOF parallel manipulators. Robotics,2000,18(5):563-568
39 Feng Gao, Xinjun Liu and Xu Chen. The Relationships between The Shapes of The Workspaces and The Link Lengths of 3-DOF Symmetrical Planar Parallel Manipulators. Mechanism and Machine Theory,2001,36(2):205-220
40 Cornelius, T. Leondes. Artificial Intelligence and Robotics in Manufacturing. CRC Press, 2001:67-75
41 J. K. Salisbury and J. J. Craig. Articulated Hands: Force Control and Kinematic Issues. Int. J. Robot. Res.,1982,1(1):4-12
42 熊有伦,尹周平,熊蔡华.机器人操作.武汉:湖北科学技术出版社,2002.1:88-100
43 T. Yoshikawa. Analysis and Control of Robot Manipulators with Redundancy.1st International Symposium on Robotics Research, MIT Press,1984(4):735-74
44 刘辛军.并联二自由度平面机器人性能与尺寸关系的研究.[燕山大学硕士论文], 1999:25-30
45 毕树生,王守杰,宗光华.串并联微动机构的运动分析.机器人,1997,4(19):54-60
46 李俊杰.矩阵分析.北京:机械工业出版社,1995:49-55
47 刘俊先,张兴和.中国正常人体测量值.北京:中国医药科技出版社,1994:74-75
48 运动解剖学编写组.运动解剖学.北京:人民体育出版社,1986:68-70
49 F. R .E. Crossley and F. G. Umholtz. Design for A Three-Fingered Hand. Mechanisms and Machine Theory,1977,12:85-93
50 B. Roth. Performance Evaluation of Manipulator from a Kinematic Viewpoint. NBS. Special Publication,1975:67-69
51 傅祥志,陈国锋,廖道训.机器人多指手的协调运动学.华中理工大学学报,1995, 23(1): 27-29
52 卢江舟,熊有伦,赵东波.多指手抓取操作的仿真.系统仿真学报,1997,6:31-34
53 T. Yoshikawa. Manipulability of Robotic Mechanisms. Int. J .Robotics Research,1987, 4(2):3-9
54 左炳然,钱文瀚.机器人多指抓取力封闭的非线性规划算法.机械工程学报,1999, 35(2): 26-29
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56 熊蔡华,熊有伦,杨叔子.机器人多指手抓取中的规划问题. 机器人,1995,17(1):18-20
57 Qian Rui ming, Yan Jingping. Task-Oriented Optimal Grasp Planning by Three-Fingered Robot Hand. Journal of Southeast University(English Edition),1998,14(1):24-26
58 熊蔡华,熊有伦.机器人多指手协调操作中的约束运动及规划.华中理工大学学报,1994,22(9):41-42
59 J. Ponce, B. Faverjon. On Computing Three-Finger Force-Closure Grasps of Polygonal Objects. IEEE Trans. Robot. Automat,1995,11(6):868-881
60 A. Bicchi. On The Closure Properties of Robotic Grasping. Int. J. Robot,1995, 14(4): 319-334
61 J. K. Salisbury, B. Roth. Kinematic and Force Analysis of Articulated Mechanical Hands. ASME J of Mechanical Design,1983,105:35-41
62 Mttthias Seitz. Towards autonomous robotic servicing:Using an intergrated hand-arm-eye system for manipulating unknown objects. Robotics and Autonomous Systems,1999, 26:23-42
63 Honghai Liu, Jian Dai. An approach to carton-folding trajectory planning using dual robotic fingers. Robotics and Autonomous Systems,2003,42:47-63
2 D. S. Childress. Artificial Hand Mechanisms. Mechanisms Conference and International Symposium on Gearing and Transmissions, San Francisco,CA,1972,10:35-39
3 T. Okada. An Artificial Finger Equipped with Adaptability to An Object. Bull. Electrotech. Lab.,1974,37(2):1078-1090
4 S. C. Jacobsen, J. E. Wood and D. F. Knutti. The Utah/MIT Dexterous Hand: Work in Progress. The International Journal of Robotics Research,1984,3(4):20-30
5 Thomas H. Speeter. Control of the Utah/MIT Dexterous Hand: Hardware and Software Hierarchy. Journal of Robotic Systems,1990,7(5):759-790
6 S. A. Stansfield. Robotic Grasping of Unknown Objects: A Knowledge-Based Approach. The International Journal of Robotics Research,1991, 10(4):314-326
7 毕树生,宗光华.机器人抓具.机器人技术及应用,1996, 5(2):15-18
8 卢江舟,张启先.机器人多指灵巧手的抓取结构分析.中南工业大学学报,1998,29:40-43
9 张建国.Puma/RAL手系统的研制.机器人情报.1989,3(3):7-10
10 Richard M. Crowder. An Anthropomorphic Robotic End-Effecter. Robotics and Autonomous Systems,1991,7:253-268
11 加藤一郎.机械手图册.上海:上海科学技术出版社,1979.9:10-60
12 于建国,马香峰.灵巧手运动学分析.机器人,1993,15(6):35-39
13 徐振中,周华平,张彭.3指机器人手系统协调运动的一种规划方法.中国有色金属学报, 1994,5:438-443
14 张龙,张友良.仿生多指机械手控制策略研究.机械设计与制造工程,2000(1):22-24
15 刘威,宋爱国,黄唯一.基于互联网的遥控机器人系统.机器人技术,2001(3):19-21
16 张惠惠.机器人多指灵巧手爪系统.机器人技术,2000(5):23-25
17 熊有伦等.机器人学.北京:机械工业出版社,1993:56-70 124-128
18 贾伯年,俞朴.传感器技术.南京:东南大学出版社,1990:236-239
19 孙恒,陈作模.机械原理(第五版).北京:高等教育出版社,1997,7:31-32
张永德,刘廷荣,李华敏.机器人多指灵巧手的结构型式的优化分析.机械设计,1999,7:
20 19-22
21 哈尔滨工业大学力伦理学教研组编.理论力学.北京:高等教育出版社,1997.7:24-25
22 理查德·莫雷,李泽湘,夏恩卡·萨思特里.机器人操作的数学导论.北京:机械工业出版社,1998,6:16-18 79-82
23 庐江舟,熊有伦,杨叔子.机器人多指手的控制与传感器技术.机器人,1995,(3):15-17
24 蔡自兴.机器人学.北京:清华大学出版社,2000,9:189-202
25 日本机器人学会编.宗光华,刘海波,程君实,等译.机器人技术手册.北京:科学出版社,1996,7:778-779
26 Paolo Dario, Cecilia Laschi, Maria Chiara Carrozza. An Integrated Approach for the Design and Development of a Grasping and Manipulation System in Humanoid Robotics. Proceedings of the 2000 IEEE/RSJ.,2000,5:854-856
27 高峰.高等机构学.秦皇岛:东北重型机械学院(燕山大学),1987:114-116
28 Yuru Zhang, William A. Gruver, Feng Gao. Dynamic Simplification of Three Degree of Freedom Manipulators with Closed Chains. Robotics and Autonomous Systems,1999,(28): 261-269
29 马香峰.机器人机构学.北京:机械工业出版社,1991,9:68-69
30 刘辛军.并联机器人结构尺寸与性能关系分析及其设计理论研究.[燕山大学博士学位论文].1999:56-57
31 杨基厚.铰链四杆机构空间模型和尺寸型.机械工程学报,1979,2:32-34
32 A. Kumar and K. J. Waldron. The Workspace of A Mechanical Manipulator. ASME Journal of Mechanical Design,1981,103(3):665-672
33 A. Kumar and K. J. Waldron. The Dexterous Workspace. ASME,1980:80-108
34 B. Roth. Performance Evaluation of Manipulators from A Kinematic Viewpoit NBS. Special Publication No.459.Performance Evaluation of Programmable Robots and Manipulators,1975:39-61
35 周建华,黄燕编著. Matlab5.3学习教程.北京:北京大学出版社,2000.12.:70-100
36 T. H. Davies, and K. C. Gupta and B. Roth. Design Consideration for Manipulator Workspace. ASME Journal of Mechanical Design,1982, 104(4):704-712
37 Feng Gao. Physical Model Technique for Design of Robotic Manipulators in Manufacturing Systems. Hebei University of Technology,2001:41-46
Xin-jun Liu, Jinsong Wang and Feng Gao. Performance atlases of the workspace for
38 planar 3-DOF parallel manipulators. Robotics,2000,18(5):563-568
39 Feng Gao, Xinjun Liu and Xu Chen. The Relationships between The Shapes of The Workspaces and The Link Lengths of 3-DOF Symmetrical Planar Parallel Manipulators. Mechanism and Machine Theory,2001,36(2):205-220
40 Cornelius, T. Leondes. Artificial Intelligence and Robotics in Manufacturing. CRC Press, 2001:67-75
41 J. K. Salisbury and J. J. Craig. Articulated Hands: Force Control and Kinematic Issues. Int. J. Robot. Res.,1982,1(1):4-12
42 熊有伦,尹周平,熊蔡华.机器人操作.武汉:湖北科学技术出版社,2002.1:88-100
43 T. Yoshikawa. Analysis and Control of Robot Manipulators with Redundancy.1st International Symposium on Robotics Research, MIT Press,1984(4):735-74
44 刘辛军.并联二自由度平面机器人性能与尺寸关系的研究.[燕山大学硕士论文], 1999:25-30
45 毕树生,王守杰,宗光华.串并联微动机构的运动分析.机器人,1997,4(19):54-60
46 李俊杰.矩阵分析.北京:机械工业出版社,1995:49-55
47 刘俊先,张兴和.中国正常人体测量值.北京:中国医药科技出版社,1994:74-75
48 运动解剖学编写组.运动解剖学.北京:人民体育出版社,1986:68-70
49 F. R .E. Crossley and F. G. Umholtz. Design for A Three-Fingered Hand. Mechanisms and Machine Theory,1977,12:85-93
50 B. Roth. Performance Evaluation of Manipulator from a Kinematic Viewpoint. NBS. Special Publication,1975:67-69
51 傅祥志,陈国锋,廖道训.机器人多指手的协调运动学.华中理工大学学报,1995, 23(1): 27-29
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