A Study of Manipulator Including Gripper with Multiple Degrees of Mobility

系统地介绍了多自由度机械夹持器的数量和尺寸综合。将手指与被抓持体的几种接触形式视为运动学副，将格鲁布勒的运动方程应用于抓持器-被抓持体运动学系统，导出了抓取物体的数条件。以一输入三自由度夹持器为例进行了数值综合，并考虑作用力和传递率确定了夹持器的参数尺寸。给出了这种夹持器对圆柱体的可抓取尺寸，并与传统的平行双指型夹持器进行了数值比较，在考虑轴扭转、杆件弯曲和驱动源特性的情况下，推导了机械手定位夹持器的运动方程。应用Bang-Bang方法对系统的残余振动进行了理论分析和实验研究。

The number and dimensional syntheses of mechanical grippers with multiple degrees of mobility are presented systematically. Several types of contacts of fingers with a grasped body are considered as kinematic pairs, and number conditions for grasping a body are derived by applying grubler's mobility equation to the gripper-body kinematic system. A numer synthesis of a gripper with one input and three degrees of mobility, as an example, is carried out, and dimensions of parameters of such a gripper are determined by considering action forces and transmissibilities. Moreover, the graspable size of a circular cylinder by such a gripper is obtained, and is compared numerically to that with the use of a conventional parallel-two-finger-type gripper.And, the equations of motion of manipulator for positioning the gripper are derived considering the torsion of shafts, the bending of links and the characteristics of driving sources. Applying the bang-bang method for attenuating the residual vibrations of the system, the dynamic characteristics of the system are analyzed theoretically and investigated experimentally.