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Parameter designing method of rope-driven under-actuated grab mechanism

A grasping mechanism and parameter design technology, which is used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem of less research on structural parameter design methods, so as to facilitate the analysis and execution of grasping tasks, and improve motion and control accuracy. , to avoid the effect of repeated corrections

Inactive Publication Date: 2019-08-27
BEIJING INST OF SPACECRAFT SYST ENG
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Problems solved by technology

At present, the research on the design of the mechanical structure of the underactuated gripper is mainly carried out at home and abroad, and the research on the design method of the structural parameters is less

Method used

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  • Parameter designing method of rope-driven under-actuated grab mechanism
  • Parameter designing method of rope-driven under-actuated grab mechanism
  • Parameter designing method of rope-driven under-actuated grab mechanism

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Embodiment Construction

[0015] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0016] The invention provides a method for designing the parameters of a rope-driven under-actuated grabbing mechanism. figure 2 The form of the rope-driven under-driven grasping mechanism is one of the mechanism forms suitable for the method of the present invention. The fingers of the grasping mechanism are driven by a rope, and a joint wheel is installed on the rotating pair between adjacent knuckles, and the rotating pair is coaxial. A torsion spring is installed to resist the pulling force of the rope, and a guide wheel is also installed inside each phalanx for the steering of the rope driving direction, wherein the setting of the knuckle wheel and the directional wheel is to make the rotation angle of each phalanx larger.

[0017] Such as figure 1 As shown, the parameter design process is divided into the following four steps:

[0018] Step 1. Sep...

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Abstract

The invention discloses a parameter designing method of a rope-driven under-actuated grab mechanism. A dedicated analytical form designing method is provided for the change form of a joint pulley radius, a joint torsion spring stiffness coefficient, an initial torque and a rope driving force. The parameter designing method avoids the repeated repairing of designing methods of experiences such as direct simulation or test and greatly improves the movement and control precision of an under-actuated system.

Description

technical field [0001] The invention belongs to the technical field of mechanism design, and in particular relates to a parameter design method of a rope drive underactuated grabbing mechanism. Background technique [0002] The rope-driven underactuated grasping mechanism can grasp objects flexibly and effectively, and its mechanism form can be highly adapted to the shape of the target. Through reasonable design of internal parameters, sufficient grasping contact force can be generated, and it has high stability and reliability. At present, there are mainly studies on the design of the mechanical structure of the underactuated gripper at home and abroad, and there are few studies on the design method of the structural parameters. Contents of the invention [0003] In view of this, the present invention provides a method for designing the parameters of the rope-driven underactuated grasping mechanism, which can design and quantify the pulley radius of each joint, the stiffn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/104
Inventor 谭春林高振良魏承田健王宁罗敏
Owner BEIJING INST OF SPACECRAFT SYST ENG
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