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浙江大学学报(工学版)
浙江大学学报(工学版)  2023, Vol. 57 Issue (12): 2367-2374    DOI: 10.3785/j.issn.1008-973X.2023.12.003
机械工程、能源工程     
刚柔耦合机械手的抓握姿态和力综合优化方法
王天磊1,2(),冯李航1,孙振兴1,柯云2,李超超2,胡记伟2
1. 南京工业大学 电气工程与控制科学学院，江苏 南京 211816
2. 长兴华强电子股份有限公司，浙江 湖州 313119
Comprehensive optimization of gripping gesture and force of soft-rigid robotic hand
Tian-lei WANG1,2(),Li-hang FENG1,Zhen-xing SUN1,Yun KE2,Chao-chao LI2,Ji-wei HU2
1. College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211816, China
2. Changxing Huaqiang Electronics Limited Company, Huzhou 313119, China
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摘要：

针对刚柔耦合机械手在抓握物体时既要有合适的抓握姿态，又要有与抓握力匹配的手指刚度的问题，研究抓握姿态和力综合优化方法. 建立机械手的几何模型以获得手指刚度与驱动压强的关系，基于所建模型构造手指姿态曲线与被抓握物体轮廓曲线的贴合度函数、与期望抓握力有关的手指期望刚度函数，并结合姿态贴合度函数和手指刚度函数构造综合优化目标函数. 利用所建目标函数计算不同期望抓握力下的最优抓握姿态，通过实验对比不同最优姿态下施加额外抓握力对抓握稳定性的影响. 实验结果表明，所提综合优化方法能够良好兼顾抓握姿态和抓握力的控制要求，实现刚柔耦合机械手的稳定可靠抓握.
关键词： 柔性机械手;  自适应抓握;  非线性优化;  姿态优化;  几何建模    
Abstract:

Aiming at the problem that a soft-rigid robotic hand not only needs appropriate gripping gesture when grasping objects, but also needs appropriate finger stiffness to match up with the gripping force, a comprehensive gripping gesture and force optimization method was investigated. The geometry model of the robotic hand was established, and the relationship between the soft finger rigidity and the actuation pressure was acquired. Based on the established models, the similarity function of the finger gesture curve and the object counter curve, and the expected finger rigidity function related to the expected gripping force were both established. The comprehensive optimization objective function was synthesized by combining the gesture similarity function and the finger rigidity function. The optimal gripping gestures were calculated under different expected forces using the established objective function. A gripping experiment was conducted on different optimal gestures with different external gripping forces, and the influence of the extra gripping forces on the gesture stability was evaluated. Experimental results show that the proposed comprehensive optimization method acquires both proper gesture and force according to different control requirements, and stable and reliable gripping performance of the robotic hand is achieved.
Key words: soft robotic hand    adaptive gripping    nonlinear optimization    gesture optimization    geometric modeling
收稿日期: 2023-03-29 出版日期: 2023-12-27
CLC:  TP 241  
基金资助: 国家自然科学基金资助项目（52201398）；江苏省自然科学基金资助项目（BK20220343）
作者简介: 王天磊（1992—），男，博士，从事柔性机器人研究. orcid.org/0000-0002-4894-4559. E-mail： wangtl92@njtech.edu.cn
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王天磊
冯李航
孙振兴
柯云
李超超
胡记伟

引用本文:

王天磊,冯李航,孙振兴,柯云,李超超,胡记伟. 刚柔耦合机械手的抓握姿态和力综合优化方法[J]. 浙江大学学报(工学版), 2023, 57(12): 2367-2374.

Tian-lei WANG,Li-hang FENG,Zhen-xing SUN,Yun KE,Chao-chao LI,Ji-wei HU. Comprehensive optimization of gripping gesture and force of soft-rigid robotic hand. Journal of ZheJiang University (Engineering Science), 2023, 57(12): 2367-2374.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2023.12.003    或    https://www.zjujournals.com/eng/CN/Y2023/V57/I12/2367

图 1  刚柔耦合机械手结构
图 2  单手指弯曲平面几何模型
图 3  柔性手指刚度测试实验
图 4  抓握姿态和力综合优化算法流程图
图 5  抓握实验测试件结构
参数 数值 参数 数值 参数 数值
d1/mm 30 l1/mm 58 r1/mm 25
d2/mm 50 l2/mm 9 r2/mm 23
d3/mm 27 l3/mm 50 da/mm 29
d4/mm 8 β/（°） 140 — —
表 1  机械手主要几何参数
图 6  机械手在不同期望力下的最优抓握姿态
物体类型 F/N ρ1/mm ρ2/mm α1/（°）
球体 0 1000.0 115.31 43.65
0.250 174.73 221.91 37.55
0.500 141.87 239.36 35.61
圆柱体 0 1000.0 ?166.87 57.82
0.125 536.44 ?144.32 56.80
0.250 159.38 ?86.39 51.57
表 2  机械手的最优抓握姿态仿真结果
图 7  机械手的抓握实验结果
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