基于抓取刚度增强的刚软耦合仿人手设计与实验
Design and Experiment for Rigid-soft Coupling Humanoid Robotic Hands Based on Grasping Stiffness Enhancement Method
李泳耀 1江磊 1刘宇飞 1杜宇 2丛明3
作者信息
- 1. 中国北方车辆研究所无人中心 北京 100072;群体协同与自主实验室 北京 100072
- 2. 大连交通大学机械工程学院 大连 116028
- 3. 大连理工大学机械工程学院 大连 116024
- 折叠
摘要
仿人手在抓取物体时需具备运动自适应性,在与非结构环境交互时需体现出良好的柔顺性和抓取刚度.为此,借鉴人类手指天然的刚软柔性结构及抓取特征,提出基于抓取刚度增强的刚软耦合仿人手设计制造方法.首先,提出仿人手指的刚软耦合设计原理及手指参数选择方法,并将其扩展应用于多关节手指情况.其次,研究手指柔性体在抓取刚度增强前后外力作用下的变形情况,以实现两指夹爪的稳定抓取.在此基础上,提出刚软耦合仿人手指的多材料分层制造方法,并进行仿人手的总体结构设计.最后,开展刚软耦合仿人手抓取实验研究,验证所提方法的有效性,并进一步讨论刚软耦合手指的其他潜在应用方式.
Abstract
When grasping objects,humanoid robotic hands need to possess motion adaptability while demonstrating good flexibility and grasping stiffness when interacting with unstructured environments.Therefore,this research proposes a novel design and manufacturing method for rigid-soft coupling humanoid robotic hands based on grasping stiffness enhancement method,inspired by the natural rigid-soft structure and grasping characteristics of human fingers.Firstly,the principle of rigid-soft coupling design for humanoid robotic fingers and the methodology for selecting finger parameters are presented.The study then expands the application of these principle and methodology to accommodate multi-joint fingers.Secondly,an in-depth analysis of the deformation of the finger's flexible body under external forces,both before and after enhancing grasping stiffness,is conducted to achieve stable grasping with a two-fingered gripper.On this basis,a multi-material layering manufacturing method for rigid-soft coupling humanoid robotic fingers is proposed,along with the overall structural design of the humanoid robotic hand.Finally,a series of experimental studies on grasping with the rigid-soft coupling humanoid robotic hand is performed to validate the effectiveness of the proposed method,followed by a comprehensive discussion of potential alternative applications for the rigid-soft coupling fingers.
关键词
仿人手指/刚软耦合/抓取刚度增强/自适应抓取Key words
humanoid robotic finger/rigid-soft coupling/grasping stiffness enhancement/adaptive grasping引用本文复制引用
出版年
2024
NETL
NSTL
万方数据