A Study of Manipulator Including Gripper with Multiple Degrees of Mobility

多自由度机械手的研究

• 批准号: 61550108
• 负责人: SATO Osamu
• 金额: $ 1.28万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1986
• 资助国家: 日本
• 起止时间: 1986 至 1987
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-61550108/
• 关键词: Number Synthesis; Dimensional Synthesis; Grasping Characteristics; Torsional Vibration; Bending Vibration; 搬送機

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.

系统地研究了多自由度机械抓手的数量和尺寸综合问题。几种类型的接触的手指与被抓物体被认为是运动学对，并抓住一个身体的一些条件，通过应用grubler的流动方程的夹具机构运动系统。以单输入三自由度机械手为例进行了数值综合，并考虑作用力和传递力确定了机械手参数的量纲。在此基础上，给出了该夹持器可抓取圆柱体的尺寸，并与传统的平行二指夹持器的抓取尺寸进行了数值比较，在考虑轴的扭转、连杆的弯曲和驱动源特性的情况下，推导了用于夹持器定位的机械手的运动方程。应用Bang-Bang方法衰减系统的残余振动，对系统的动态特性进行了理论分析和实验研究。

项目成果

下嶋浩: 日本機械学会論文集(C編). 52. 2242-2247 (1986)

Hiroshi Shimojima：日本机械工程师学会会议记录（ed. C）52. 2242-2247 (1986)。