形状自适应欠驱动机器人手爪毕业论文

毕业设计（论文）题目形状自适应欠驱动机器人手爪的设计与分析专业机械设计制造及其自动化学号学生指导教师答辩日期哈尔滨工业大学本科毕业设计(论文)摘要随着科学技术的发展，工业机器人领域的自动化程度越来越高，机器人在工业自动化中的应用也愈加普遍。目前，传统工业机器人的末端夹持装置存在着灵活性差，抓取精度低，稳定性、可靠性和通用性差，没有可靠的输出力控制，无法达到FMS生产线上对于灵活和精细操作的要求。为此，本文根据国内外的新型欠驱动机构的研究现状，结合本课题的具体要求，对具有形状自适应的欠驱动机器人手爪进行了设计与分析。矚慫润厲钐瘗睞枥庑赖。首先，根据国内外研究现状的分析与综述，结合本课题具体要求，采用人手仿生学和欠驱动理论设计了与成年人手形状相似大小相仿的单根手指3自由度的五指机器人手，由6个电机驱动。聞創沟燴鐺險爱氇谴净。其次，采用多连杆传动，刚度好、出力大、负载能力强。手指结构简单，重量轻，具有形状自适应性。再次，根据虚功原理，借助于Ansys和Adams软件，实现对手指的静力学分析、运动学分析、动力学分析、仿真和优化设计，再结合工程实践中的经验设计对手指进行二次优化。残骛楼諍锩瀨濟溆塹籟。最后，通过仿真，二次优化后的欠驱动机器人手能够实现对于球形、圆柱形以及不规则形状的物体可靠的包络抓取。酽锕极額閉镇桧猪訣锥。关键词：仿人机器人手；欠驱动；静力学分析；运动学分析；动力学分析；仿真优化设计哈尔滨工业大学本科毕业设计(论文)I各位如果需要此设计的全套内容（包括二维图纸、中英文翻译、完整版论文、程序、答辩PPT）可加QQ695939903，如果需要代做也请加上述QQ,代做免费讲解。彈贸摄尔霁毙攬砖卤庑。哈尔滨工业大学本科毕业设计(论文)IIAbstractWiththedevelopmentofscienceandtechnology,thedegreeofautomationinthefieldofindustrialrobotsbecomehigherandhigherandtheapplicationofrobotinind-ustrialautomationhasbecomemoreandmorewidespread.Atpresent,theclampingdeviceoftraditionalindustrialrobothassuchdisadvantageslikeinflexibility,lowgra-spingaccuracy,poorstability、reliability、versatilityandthereisnoreliableoutputforce.TherequirementsofflexibleandaccurateoperationcannotbeachievedintheproductionlineofFMSbecauseofthesedrawbacks.inthispaper,anewshapeself-adaptiveunderactuatedrobotichandisdesignedandanalysedaccordingtothedomesticandabroadresearchstatuscombinedwiththespecificrequirementsofthisproject.謀荞抟箧飆鐸怼类蒋薔。Firstly,accordingtotheanalysisandoutlineofdomesticandabroadresearchsta-tuswiththeconsiderationoftherequirementsofthisproject,ahuman-likefive-fingeredrobotichandwhichhasthreedegree-of-freedomoneachfingerisdesignedbasedonbionicsofhumanhandandunderactuatedtheoryandit'sdrivenbysixmotors.厦礴恳蹒骈時盡继價骚。Secondly,multi-bartransmissionisadoptedwiththeadvantageofbetterstiffness、largeroutputforceandhigherloadcapacity.Withalightweightandshapeself-adapt-ation,theunderactuatedfingerhasasimplestructure.茕桢广鳓鯡选块网羈泪。Thirdly,staticanalysis、kinematicanalysis、dynamicanalysis、simulationandoptimizeddesigningareachievedaccordingtovirtualpowertheorywiththehelpofAnsysandAdamssoftwareandquadraticoptimizationisdevelopedbasedontheexp-eriencesinengineeringpractice.鹅娅尽損鹌惨歷茏鴛賴。Lastly,theunderactuatedrobotichandafterquadraticoptimizationcansteadilygraspthingsthatarespherical、cylindericalandirregularshapethroughsimulation.籟丛妈羥为贍偾蛏练淨。Keywords:underactuated,human-likefive-fingeredrobotichand,Staticanalysis，預頌圣鉉儐歲龈讶骅籴。kinematicanalysis，dynamicanalysis，simulation，optimizeddesigning渗釤呛俨匀谔鱉调硯錦。哈尔滨工业大学本科毕业设计(论文)III哈尔滨工业大学本科毕业设计(论文)IV目录摘要..............................................................................................................铙誅卧泻噦圣骋贶頂廡。ABSTRACT...............................................................................................II擁締凤袜备訊顎轮烂蔷。第1章绪论1.1课题来源和背景...................................................................................0贓熱俣阃歲匱阊邺镓騷。1.2研究目的和意义...................................................................................0坛摶乡囂忏蒌鍥铃氈淚。1.3国内外的研究现状及分析................................................................1蜡變黲癟報伥铉锚鈰赘。1.4主要研究内容........................................................................................2買鲷鴯譖昙膚遙闫撷凄。第2章机器人仿人手爪的结构设计綾镝鯛駕櫬鹕踪韦辚糴。2.1引言...........................................................................................................4驅踬髏彦浃绥譎饴憂锦。2.2仿生学在手爪设计上的应用...........................................................4猫虿驢绘燈鮒诛髅貺庑。2.2.1仿生学概述.....................................................................................4锹籁饗迳琐筆襖鸥娅薔。2.2.2人手的生理结构特点..................................................................5構氽頑黉碩饨荠龈话骛。2.3整体结构设计........................................................................................6輒峄陽檉簖疖網儂號泶。2.4食指设计.................................................................................................7尧侧閆繭絳闕绚勵蜆贅。2.4.1食指结构设计................................................................................7识饒鎂錕缢灩筧嚌俨淒。2.4.2食指尺寸设计................................................................................7凍鈹鋨劳臘锴痫婦胫籴。2.5拇指设计.................................................................................................8恥諤銪灭萦欢煬鞏鹜錦。2.6手指的模块化设计..............................................................................9鯊腎鑰诎褳鉀沩懼統庫。2.7手掌设计.................................................................................................9硕癘鄴颃诌攆檸攜驤蔹。2.8驱动及传动机构的设计...................................................................10阌擻輳嬪諫迁择楨秘騖。2.8.1驱动源............................................................................................10氬嚕躑竄贸恳彈瀘颔澩。2.8.2传动方式.......................................................................................11釷鹆資贏車贖孙滅獅赘。2.9本章小结...............................................................................................12怂阐譜鯪迳導嘯畫長凉。第3章机器人手爪的抓取仿真与分析谚辞調担鈧谄动禪泻類。3.1引言.......................................................................................................133嘰觐詿缧铴嗫偽純铪锩。3.2包络抓取的实现...............................................