机械臂气动关节柔性抓取操控

贺道坤; 李明

doi:10.13433/j.cnki.1003-8728.20230058

机械臂气动关节柔性抓取操控

doi: 10.13433/j.cnki.1003-8728.20230058

贺道坤^1,,
李明²

1.
南京信息职业技术学院智能制造学院，南京　210023
2.
南京理工大学人工智能学院，南京　210014

基金项目: 2018 年江苏省“青蓝工程”优秀教学团队项目(2018-4)

详细信息

作者简介:
贺道坤（1978−），副教授，硕士，研究方向为机电控制、视觉检测，hedk@njcit.cn

中图分类号: TP242.6;TH122
计量
- 文章访问数: 179
- HTML全文浏览量: 128
- PDF下载量: 41
- 被引次数: 0
出版历程
- 收稿日期: 2022-05-25
- 网络出版日期: 2023-03-27
- 刊出日期: 2023-02-25

Flexible Grasp Control of Manipulator Pneumatic Joint

HE Daokun^1
,,
LI Ming²

1.
Intelligent Manufacturing Institute, Nanjing Vocational College of Information Technology, Nanjing 210023, China
2.
Artificial Intelligence Institute, Nanjing University of Science & Technology, Nanjing 210014, China

摘要

摘要: 针对机械臂不便于从物件上方直接进行抓取的情况，提出一种机械臂气动关节柔性抓取操控技术。分析机械臂常规抓取方式，剖析机械臂与物件接触间的几何约束关系，开展物件一边被抬起的受力情况。在此基础上，分析气动关节曲率和内压之间的线性关系，构建控制关节内压的机械臂柔性抓取操控技术。通过实物测试验证，采集物件曲率变化所对应手指内压变化情况，获取不同曲率下抓握平衡所需摩擦系数变化情况，通过手指和地面“相互对抗”，使纸条曲率变大且重心右移，从而成功实现了机械臂柔性抓取柔软物件，达到设计目标要求。
- 机械臂 /
- 柔性抓取 /
- 气动关节 /
- 数据采集
Abstract: Aiming at the situation that the manipulator is not convenient to grasp directly from the upper part of the object, a flexible grasp control technology of the pneumatic joint of the manipulator is proposed. The conventional grasp mode of the manipulator is analyzed, the geometric constraint relationship between the manipulator and the object is analyzed, and the force condition of the object is carried out when one side is lifted. On this basis, the linear relationship between the curvature of the pneumatic joint and the internal pressure was analyzed, and the flexible grasp control technology of the manipulator to control the internal pressure of the joint was constructed. Through the actual test validation, collect objects curvature change corresponding fingers, the change of the internal pressure, the required to grasp balance under different curvature change of the coefficient of friction, and ground against each other through the fingers, make note of curvature change and the focus moves to the right so as to successfully implement the flexible mechanical arm grasp soft objects, to meet the design goals and objectives.
- mechanical arm /
- flexible grasping /
- pneumatic joint /
- data collection

HTML全文

图 1 机械臂与物件接触几何约束示意图

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图 2 物件一边被抬起的受力分析示意图

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图 3 装配活动关节手指的UR10机械臂

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图 4 机械臂手指曲率和内压之间的线性关系

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图 5 机械臂柔性抓取过程示意图

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图 6 物件随机械臂移动曲率变化

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图 7 物件曲率变化所对应手指内压变化

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图 8 不同曲率下抓握平衡所需摩擦因数变化

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图 9 机械臂柔性抓取纸条测试过程

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表 1 机械臂与薄物件接触几何约束

参数	定义描述
$ \beta $	机械臂与物件之间的夹角
$ {l_2} $	接触点2与物件边角之间的距离
$ e $	物件的厚度
$ b $	机械臂打开指间的距离
$ {l_0} $	物件长度
$ m $	物件质量
$ {\mu _0} $	物件与平面之间的摩擦因数
$ {l_f} $	机械臂指尖长度
$ {\mu _1} $、$ {\mu _2} $	机械臂与物件间的摩擦因数

下载: 导出CSV

表 2 机械臂手指初始配置参数

参数	最大	最小	步长
水平距离/mm	90	20	10
垂直距离/mm	140	80	1
旋转角度/（°）	15	0	1

下载: 导出CSV

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