【摘要】 传统攀爬机器人的抱持机构都是采用全驱动的机构,具有结构复杂,控制繁琐,无自适应的缺点。为了改变这种状态,提升攀爬机器人抱持机构的抱持性能,设计了一种基于绳驱式欠驱动原理的抱持机构,具有结构简单,驱动源较少,自适应好的优点。同时对此欠驱动机构进行静力学模型的建立,并运用ADAMS/Cable模块对欠驱动手爪进行运动学以及动力学仿真分析。此仿真方法为绳驱式欠驱动手爪仿真提供了一种新的方法,并通过仿真验证轮手抱持杆件的可行性,从而验证了欠驱动手爪作为攀爬机器人抱持机构的可行性。更多还原

【Abstract】 The grasping mechanism of traditional climbing robots is all driven mechanism,which has the disadvantages of complex structure,complicated control and no self-adaptation. In order to change this state and improve the grasping performance of the grasping mechanism of climbing robot, this paper designs a rope-driven underactuated grasping mechanism,which has the advantages of simple structure,fewer driving sources and good self-adaptation. At the same time,the static model of the underactuated mechanism is established,and the kinematics and dynamics of the underactuated gripper are simulated by ADAMS/Cable module. This simulation method provides a new method for simulation of rope-driven underactuated gripper.,and verifies the feasibility of wheel-hand holding rod by simulation,thus verifying the feasibility of underactuated gripper as grasping mechanism of climbing robot.更多还原