SIA OpenIR  > 水下机器人研究室
Alternative TitleDesign and Research of Underwater Multi-Fingered Hand with Force Sense
Thesis Advisor孙斌 ; 张奇峰
Keyword水下多指手 力感知 绳索驱动 柔性抓取
Call NumberTP241/L71/2018
Degree Discipline机械电子工程
Degree Name硕士
Degree Grantor中国科学院沈阳自动化研究所
Place of Conferral沈阳
Other AbstractBased on the deep-sea environment features and the operational demands of underwater manipulator, the underwater multi fingered hand with force sense has been studied. The main contents of the paper are as follows: (1) A multi fingered hand with force sense which can be used in all ocean depth environment is designed, The multi-fingered hand structure is introduced and the design of multi-fingered transmission structure is completed. The layout of three finger fingers can be adjusted to adapt to various grasping objects. The selection of the sealing device and the material of the parts are completed. The sealed cabin is filled with hydraulic oil and is equipped with pressure compensator to resist the water pressure, which can meet the demands of deep-sea operation. (2)The parameters of the finger structure are analyzed in detail, and a driving mode which three knuckles are driven by a rope is selected. The torsion spring stiffness parameters of finger joints are specifically design, and the moving sequence of finger joints is optimized using the method of force control. Fingertip module is built with pressure sensor and seal structure is designed, and fingertip contact force information can be obtained through force transfer. (3)The grasping statics model of the three-joint-finger is established, and the theoretical analysis of finger contact force is completed. The kinematics model of the finger is established. Based on Newton Euler method, considering the joint water resistance and additional mass torque, the dynamic equation of finger in water environment is established. (4) The ADAMS dynamic model of multi-fingered hand is established, and the moving sequence of finger joints is researched in simulation environment, which is basically consistent with the theoretical design results. The simulation of the rope-pulley structure of the finger are conducted which verifies that a rope can drive the finger. The grasping performance of the multi-finger hand is simulated, and the results show that multi-fingered hand can adapt to different shapes of objects and grasp them steadily. (5)Based on the underwater multi-fingered hand prototype, the comprehensive experiment is carried out to verify the performance of the fingertip force sensing module and the grasping performance of the multi-fingered hand. The experiment proves that the force sensing function is good and has the conditions of flexible grasp, and the multi-fingered hand can grasp objects with a variety of shapes, and can realize the force closure and the geometric closure of the grasp.
Contribution Rank1
Document Type学位论文
Recommended Citation
GB/T 7714
刘辰辰. 水下力感知多指手设计及研究[D]. 沈阳. 中国科学院沈阳自动化研究所,2018.
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