【作者】 郑金勇；

【导师】 王德伦；

【作者基本信息】 大连理工大学 ， 机械设计及理论， 2006， 硕士

【摘要】 本文从工程实际出发，运用球面机构运动几何学、最优化方法、计算机数值计算和CAE仿真技术等学科的理论成果，对球面五杆变胞机械手掌的机构尺寸综合进行了深入系统的研究，建立了球面五杆变胞机械手掌尺寸综合的模型，并编制了相应的优化综合程序。 首先，建立了球面五杆机构的机构运动模型，采用位移旋转矩阵方法对球面五杆机构的机构运动进行分析，在此基础之上详细介绍了球面五杆变胞机械手的抓取特性。运用机械手指工作平面法向量的运动轨迹进行机械手工作性能的分析研究，并采用三指共线条件对机械手指的正确抓取姿态性能进行了评价。采用变胞机械手三个的机械手指的工作空间三角形的面积作为球面五杆变胞机械手的工作空间评价标准。在此基础上提出了以变胞机械手实现更多正确抓取姿态以及各个抓取姿态的工作空间最大为目标的球面五杆变胞机械手掌尺寸优化综合模型。 接着，依据变胞机械手掌的综合模型提出了分自由度降维优化综合的方法，按照球面五杆机械手掌两自由度的控制输入将其划分为安装机械手指的球面开式三连杆和实现机械手掌机构变胞的球面开式二连杆两个机构，分别建立综合模型进行结构尺寸优化，然后将两组开式机构组合成球面五杆变胞机械手。 最后，依照球面五杆变胞机械手掌的综合模型采用遗传进化和鞍点规划思想编写了球面五杆变胞机械手掌综合的优化程序，并进行了实例计算，通过对综合所得的一组尺寸的变胞机械手机构进行性能分析，详细评价了该变胞机械手在各个抓取姿态的工作空间和正确抓取近似程度。并用Pro／Engineer进行机械手的三维建模，仿真了机械手的抓取姿态。验证了球面五杆变胞机械手掌机构综合模型的有效性。更多还原

【Abstract】 This dissertation describes a novel robotic hand with a metamorphic palm, which is different from the traditional structure of a robotic hand. Based on analysis of the grasping operation and workspace of the robotic hand, a new approach of synthesis for spherical five-bar metamorphic palm is presented in the dissertation.At first, the kinematics model of a 2-DOF spherical 5R parallel mechanism is established. This model is discussed through displacement matrix method in details. The finger-operation plane and the workspace triangle are introduced to study the capability of the metamorphic palm.Secondly, the question for forming a spherical five-bar metamorphic palm is broken down into two relatively independent sub-questions. The first one is to create an open loop of three spherical links, on which the three fingers can achieve a maximum workspace. Its mathematical model is nonlinear and non-differential with multiple constraints. The problem is resolved by genetic algorithm followed by BFGS’s method. The second one is to search approximate character points on moving spherical link with designed workspace and to then generate the metamorphic palm, whose mathematic model is also nonlinear and non-differential, constrained by many conditions. This is a kind of special non-differential max-mini optimal problem with inequality constraints. By the method of Saddle-point Programming and maximum entropy, the problem can be transformed into a differential optimal problem with single objective. Generally an optimal result depends on the initial point. In this dissertation, a series of good initial points is produced automatically by genetic algorithm.Finally, synthesis results are given to illustrate the effectiveness of the approach. 3D CAD modeling is provided to show the designed poses of the robotic hand.更多还原