刚-柔-软体并联操作手机构传动与动力学研究

Rigid-flexible-soft integration parallel robot operating hand is a novel operating hand. It is integrated by a rigid parallel manipulator, a rigid-flexible parallel sensor for measuring six-dimensional forces, multi flexible-soft finger mechanisms. It is can be applied to some national key projects, such as investigation in planet or deep sea, microsurgical operation, searching and rescuing in danger filed, auxiliary-servicing old or disabled people, cell transplantation, micro-manufacturing, precise combination of processing. In the light of our obtained several national patents, some key researches and studies in this project are conducted as follows:.1. Develop the mechanism synthesis theory and coordination operation theory of the novel operating hand. 2. Discover the characteristics coordination kinematics, dynamics and rigidity of the novel operating hand. 3. Establish the kinematics formulae for solving displacement, velocity, acceleration, workspace, singularity; the dynamics formulae for solving dynamic active/constrained wrench and coordination stiffness of parallel manipulator, coordination operation grab wrench of multi-flexible-soft finger, measuring dynamic wrench and coordination stiffness of parallel sensor. 4. Conduct some relative experiments and simulations to verify theoretical results. The achievement of this project will provide the foundation for establishing the theoretical system of type synthesis and coordination operation of the novel operating hand; provide the technique support for manufacturing some national key equipments, such as searching and rescuing operating hand, auxiliary-servicing operating hand for old or disabled people, parallel machine tool with multi-spindles, forging press.

刚-柔-软体并联操作手是由刚体并联机构、刚-柔体并联六维力传感器、多个柔-软体手指机构混联的机器人新型操作手。它适用于太空站维修、深海勘探、医疗微创手术、危难险场搜索与救援、助老助残服务、细胞移植、微纳加工、精密组合加工等高端作业。本项目以申请者多项中国授权发明专利为起点，开展新型操作手机构型综合、传动与动力学研究，揭示其多体耦合系统运动/力传递共性原理，建立新型操作手协调运动和动力学模型，建立抓取载荷与传感器测力映射模型和协调刚度模型；开展实验与模拟验证研究。本项目成果为创建新型操作手机构型综合及协调操作理论体系奠定基础；为成功研制国家重大需求的救援操作、康复服务、微创手术与牙科医疗手术、锻造机、微精加工等机器人新型操作手提供理论依据和技术支撑。为刚-柔-软体机器人构型设计及力学行为理论研究以及机器人-人-环境交互动力学与刚度调控机制提供理论依据和技术支撑。

项目背景：刚 柔 软 并联操作手是由刚体并联机构、刚柔体并联六维力传感器、多个柔软体手指机构混联的机器人新型操作手。适用于太空站维修、深海勘探、医疗手术、危难救援、助老助残服务、细胞移植、微纳加工、精密操作等高端作业。.研究内容：开展新型操作手机构型综合、传动与动力学研究，揭示其多体耦合系统运动和力传递共性原理，建立新型操作手协调运动和动力学模型，建立抓取载荷与传感器测力映射模型和协调刚度模型；开展实验与模拟验证研究。.二、重要结果及科学意义.1. 将子机构转换成等效分支，将数字拓扑图转成等效分支数字拓扑图，综合出合理可行的刚柔软体手指机构、刚柔腕传感器、串并联臂机构。为新型操作手与手指创新出大量有价值机构。用最好机构，研制两种刚柔软体并联操作手样机。样机I的手指设有软体指套、弹簧、力传感器和弯曲机构，实现手指共融安全抓取，感知抓力，增大抓取力和手指弯曲度。样机II的柔性手指座与并联臂动台之间设有刚柔体六维力传感器，实现手指柔性安全抓取，感知手腕六维抓取载荷。解决了新型操作手共融柔软大力抓取，感知抓取载荷的难题。.2. 提出和创建了混联操作手臂运动学统一迭代递推的正解模型。建立其末端连杆正解雅可比矩阵J和海赛矩阵H。提出和创建了反对称矩阵扩展理论，推导出动台速度与常数矩阵的多种模式，建立了刚柔软体并联操作手运动连杆广义J与H和加速度模型。为动力学建模奠定基础。.3. 提出和建立求解各种刚柔软体并联操作手含惯性力、多耦合约束力的动力学模型。考虑各运动连杆惯性力和约束力，建立了该操作手精准动力学模型和精准刚度模型。为确定各驱动器和关键件优化参数提供理论依据。.4. 提出和建立了刚柔软体手指机构和其运动与力学模型。提出用分流式六维力传感器测量该操作手腕力的构思，建立了抓取载荷与测试力映射模型的方法。解决了评估新型操作手测量六维力指标的难题。