韩建友,蔡营疆.单自由度平面六杆手指机构解域综合方法[J].农业机械学报,2018,49(9):367-373.
HAN Jianyou,CAI Yingjiang.Solution-region Synthesis Method of Single-degree-of-freedom Planar Six-bar Mechanisms for Robotic Fingers[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(9):367-373.
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单自由度平面六杆手指机构解域综合方法   [下载全文]
Solution-region Synthesis Method of Single-degree-of-freedom Planar Six-bar Mechanisms for Robotic Fingers   [Download Pdf][in English]
投稿时间:2018-06-14  
DOI:10.6041/j.issn.1000-1298.2018.09.043
中文关键词:  解域  手指  平面六杆机构  力传递性能指标
基金项目:国家自然科学基金项目(51775035、51275034)
作者单位
韩建友 北京科技大学 
蔡营疆 北京科技大学 
中文摘要:为适应机器人手指多用途、多尺寸的设计要求,提出一种基于单自由度平面六杆机构解域的手指机构设计综合方法。根据平面六杆机构4个给定的运动位置可得到穷多机构解,将这些机构解表示在一个平面域上,该域称为解域。本文给定平面六杆机构的4个运动位置,限制待求铰链点的坐标范围,通过给出的铰链点曲线求解方法,得到铰链点解曲线和可行段,对可行段进行分段,得到解域,在此基础上,引入力传递性能指标K,限定其范围,对解域进行进一步的筛选,得到新的可行解域,并得到K在解域上的分布规律,最终可在新解域中选择满足全部条件的机构作为机构解。K值的引入使得所得的机构具有较好的力学性能。解域上的每一点均为满足要求的平面六杆机构,可根据设计的目的(如仿生手指、康复手指等)选择不同的机构进行手指的设计。从新可行解域中选择一个机构设计手指样机,该样机证明了所提出方法的正确性和有效性。
HAN Jianyou  CAI Yingjiang
University of Science and Technology Beijing and University of Science and Technology Beijing
Key Words:solution region  robotic fingers  planar six bar mechanisms  force transmission property index
Abstract:A solution region design method based on planar six bar mechanisms for robotic fingers was proposed to achieve the goal of obtaining diversified fingers with different dimensions. An infinite number of solutions of planar six bar mechanisms can be obtained by predefining four moving positions, and all these solutions can be expressed on a planar region, which was called the solution region. Firstly, the planar six bar mechanisms had five moving links, and three of them simulated the proximal, middle and the distal knuckle of human fingers, respectively. Four moving positions of the three links, which expressed the bending motion of a finger, were predefined. The coordinates of unknown joints, which were located inside the finger, were limited to restrict them in the kunckle. According to the theory of motion generation in four moving positions of planar six bar mechanisms, the solution curves and feasible segments of the known joints were obtained. After segmenting the feasible segments, a solution region of planar six bar mechanisms, expressed by the coordinates of two joints, was established. The parameter K, an index that measured the force transmission property of a mechanism, was introduced to filter the feasible segments. Then a feasible solution region was obtained, and the distribution law of K on the feasible solution region was analyzed. Finally, A planar six bar mechanism was selected on the feasible solution region to design a finger prototype. The new feasible solution region expressed actual coordinates of the joints, and showed the force transmission property of planer six bar mechanisms directly, which contributed to the selection of mechanisms that satisfied all the requirements. Each point on the feasible solution region was a planar six bar mechanism. Therefore, appropriate planar six bar mechanisms can be selected on the solution region according to different design objectives, such as anthropomorphic fingers, rehabitation fingers. And the prototype proved the validity and availability of the solution region design method for robotic fingers design.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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