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| Multi-mode parametric optimization design of planar damped underactuated gripper |
| LU Qing-hua, HUANG Ming-xian, CHEN Wei-lin |
| School of Mechatronics Engineering, Foshan University, Foshan 528000, China |
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Abstract Underactuated gripper has good adaptive characteristics and is commonly used in robotics. Due to the multi working modes of underactuated gripper, the parametric optimization is difficult. A multi-mode parametric optimization method was proposed for the typical planar damped underactuated gripper. The investigated gripper has two working modes, which are two-point grasping and enveloped grasping. First, the static analysis of working modes was carried out, establishing the analytical relation between the output grasping force and the input torque, and the external constraint method was introduced to solve the hard problem of determination the static equilibrium position of the enveloped grasping. Further, the grasping force of each working mode was optimized to obtain the optimal structural parameters, and the common characteristics of optimal direction were analyzed. Finally, through the ADAMS simulation, the effectiveness of optimal results for different modes was verified. The results showed that both working modes had the same optimal direction and the effects of optimization were obvious. The research provides a reference for the optimal design of multi-mode underactuated gripper.
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Received: 22 March 2018
Published: 28 December 2018
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平面阻尼型欠驱动夹持器的多模式参数优化设计
欠驱动夹持器具有良好的自适应特性，广泛应用于机器人领域。针对欠驱动夹持器工作模式较多而导致参数优化困难的问题，以典型的平面阻尼型欠驱动夹持器为研究对象，提出一种夹持器多模式参数优化设计方法。所研究的夹持器有2种工作模式，分别为两点夹持与包络夹持。首先，对夹持器各工作模式进行静力学分析，建立输出夹持力与输入扭矩的解析关系，并引入外部约束法解决包络夹持静平衡位置较难确定的问题；然后，对各工作模式进行夹持力优化，以获得最优结构参数，并分析优化方向的共性；最后，通过ADAMS仿真验证了优化结果的正确性。结果表明：2种工作模式的优化方向相同且优化效果明显。本研究为多工作模式欠驱动夹持器的优化设计提供了参考方法。
关键词：
欠驱动,
夹持器,
多模式,
优化设计
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