CN108262761A - Based on the change born of the same parents' hand design method for becoming born of the same parents' principle - Google Patents
Based on the change born of the same parents' hand design method for becoming born of the same parents' principle Download PDFInfo
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- CN108262761A CN108262761A CN201711444382.7A CN201711444382A CN108262761A CN 108262761 A CN108262761 A CN 108262761A CN 201711444382 A CN201711444382 A CN 201711444382A CN 108262761 A CN108262761 A CN 108262761A
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- component
- same parents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
Abstract
The present invention relates to mechanism kinematics chain fields, it discloses a kind of based on the change born of the same parents' hand design method for becoming born of the same parents' principle, pass through Number synthesis, obtain the digit synthesis result about the number of components, kinematic pair quantity, loop and each polynary the number of components, then pattern synthesis is carried out, kinematic chain is obtained, and then the kinematic chain met the requirements is selected to choose component and carries out Design for Regeneration, so as to obtain the designing scheme for becoming born of the same parents' hand.The present invention is based on the born of the same parents' hand design methods that becomes for becoming born of the same parents' principle to become born of the same parents' hand based on born of the same parents' principle is become by the combined method design of kinematic chain, realize the crawl of different size, irregularly shaped object, improve crawl efficiency and system reliability, robot inaccuracy is compensated for, higher added value is brought to assembly system.
Description
Technical field
The present invention relates to mechanism kinematics chain fields, and in particular to a kind of based on the change born of the same parents' hand design method for becoming born of the same parents' principle.
Background technology
Since robot occurs, the shortcomings that it greatly compensates for conventional termination actuator.End effector is
A kind of device for directly performing work, it has a great impact to the operation function of robot, application range and efficiency.Therefore,
The structural analysis of research end effector of robot is very important.In traditional Robot Design, performed as end
The palm that device uses is typically rigid body, and the angle between different fingers is fixed, and which has limited the automaticities of palm.
In the prior art, the palm of some simulation human hands, the artificial limb including the mankind have been developed that.For example, one
A human-imitated finger mechanism developed by New Zealander Azlan, can commonly perform grasping manipulation but also carry out self-adapting grasping behaviour
Make；A kind of novel multifinger hand for being referred to as Matahand is developed by J.S. Dai Jie, there are one foldable and flexible palms, make
Hand is adaptable and reconfigurability；Nicolas Rojas propose a kind of two fingers hand claw topological structure under study for action, are not slapping
In the case of the size, shape or other details of holding captured object, manual operation and control can be pre-defined.But these
End effector fabrication cycle is long, when in use, by the variation of captured object, causes grabbing error big, reduces crawl
The reliability of efficiency and system.
Invention content
The purpose of the present invention provides a kind of based on the change born of the same parents' hand design side for becoming born of the same parents' principle aiming at the deficiency of above-mentioned technology
Method becomes born of the same parents' hand based on born of the same parents' principle is become by the design of the combined method of kinematic chain, realizes different size, irregularly shaped object is grabbed
It takes, improves crawl efficiency and system reliability, compensate for robot inaccuracy, higher added value is brought to assembly system.
To achieve the above object, it is a kind of based on the change born of the same parents' hand design method for becoming born of the same parents' principle designed by the present invention, including such as
Lower step：
A the quantity of component in kinematic chain) is set as N, and the quantity of kinematic pair is J, then the degree of freedom F of kinematic chain meets as follows
Formula：
F=3 (N-1) -2J
In addition, the loop quantity L of kinematic chain meets equation below：
L=1+J-N
It can thus be concluded that：
In formula, the number of components N, degree of freedom F and loop L are integer, and in the case where degree of freedom F is determined, calculating obtains
The combination of the number of components N, kinematic pair quantity J and loop L：
In formula, first numbers of the p for component, NpIt represents the quantity of p member components in kinematic chain, by Number synthesis, obtains about structure
Number of packages amount N, kinematic pair quantity J, loop L and each p members the number of components digit synthesis result；
B) by the step A) in obtain digit synthesis result carry out pattern synthesis, obtain it is corresponding with digit synthesis result
Several kinematic chains；
C) become born of the same parents' hand and include change born of the same parents' fixture and two finger-joints, become born of the same parents' fixture and take degree of freedom F=2, according to clamping
It is required that in the step B) in obtain kinematic chain in select a kinematic chain C as change born of the same parents' fixture kinematic chain；
D) in the step C) in choose component N in the kinematic chain C that choosesc1As the rack component for becoming born of the same parents' fixture, choose
With component Nc1Connected component Nc2Retain one as the drive member for becoming born of the same parents' fixture, in the kinematic chain C and be free of the component
Nc1With component Nc2Loop Lc1, choose two with component Nc1The component N of connectionc3With component Nc4As the execution for becoming born of the same parents' fixture
Component, component Nc3With component Nc4Positioned at the loop L of kinematic chain Cc1Within；
E) in the step B) in obtain kinematic chain in select a kinematic chain D as become born of the same parents' hand finger-joint place
Kinematic chain, setting become born of the same parents' hand finger-joint degree of freedom Fz=2, select the component N of kinematic chain Dd1Machine as finger-joint
Frame member, selection and component Nd1Connected component Nd2As the drive member of finger-joint, one is retained in the kinematic chain D
Without the component Nd1With component Nd2Loop Ld1, the execution component of two finger-joints is selected, it is one of to perform component choosing
It takes and component Nd1Connected component Nd3, another performs component and chooses and component Nd3Opposite component Nd4, and component Nd3It is located at
The loop L of kinematic chain Dd1Except, component Nd4Positioned at the loop L of kinematic chain Dd1Within；
F) by the step D) and step E) in choose rack component, drive member and perform component carry out regeneration set
Meter, meanwhile, component Nc1With component Nd1It shares, component Nc3With the component N of a finger-jointd3It shares, component Nc4With another
The component N of finger-jointd3It shares, so as to obtain the designing scheme for becoming born of the same parents' hand.
Compared with prior art, the present invention it has the following advantages：It is obtained based on born of the same parents' principle is become by Number synthesis and pattern synthesis
The kinematic chain met the requirements after the kinematic chain met the requirements is chosen, by Design for Regeneration, obtains the designing scheme of hand, the hand
Designing scheme realize the crawl of different size, irregularly shaped object, improve crawl efficiency and system reliability, compensate for machine
Device people's error, higher added value is brought to assembly system.
Description of the drawings
Fig. 1 is that the present invention is based on the structure diagrams for becoming a kinematic chain in born of the same parents' hand design method for becoming born of the same parents' principle；
Fig. 2 is that the present invention is based on the structure diagrams for becoming another kinematic chain in born of the same parents' hand design method for becoming born of the same parents' principle；
Fig. 3 is that the present invention is based on the structure diagrams for becoming change born of the same parents' fixture in born of the same parents' hand design method for becoming born of the same parents' principle；
Fig. 4 is that the present invention is based on the structure diagrams for becoming finger-joint in born of the same parents' hand design method for becoming born of the same parents' principle；
Fig. 5 is that the present invention is based on the structure diagrams for becoming change born of the same parents' hand in born of the same parents' hand design method for becoming born of the same parents' principle.
Each part numbers are as follows in figure：
First component 1, second component 2, third component 3, the 4th component 4, the 5th component 5, the 6th component 6, the 7th component
7th, the 8th component 8, the first kinematic chain C, the second kinematic chain D.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments.
A kind of change born of the same parents' hand design method based on change born of the same parents' principle, includes the following steps：
A the quantity of component in kinematic chain) is set as N, and the quantity of kinematic pair is J, then the degree of freedom F of kinematic chain meets as follows
Formula：
F=3 (N-1) -2J
In addition, the loop quantity L of kinematic chain meets equation below：
L=1+J-N
It can thus be concluded that：
In formula, the number of components N, degree of freedom F and loop L are integer, and in the case where degree of freedom F is determined, calculating obtains
The combination of the number of components N, kinematic pair quantity J and loop L：
In formula, first numbers of the p for component, NpIt represents the quantity of p member components in kinematic chain, by Number synthesis, obtains about structure
Number of packages amount N, kinematic pair quantity J, loop L and each p members the number of components digit synthesis result；
In the present embodiment, degree of freedom F=2 is taken, obtains following digit synthesis result table：
1 digit synthesis result table (degree of freedom F=2) of table
B) by the step A) in obtain digit synthesis result carry out pattern synthesis, obtain it is corresponding with digit synthesis result
Several kinematic chains as shown in Figures 1 and 2, two kinematic chains in kinematic chain are corresponded to for the number of components N=7, are set as the first fortune
Dynamic chain C and the second kinematic chain D；
C) become born of the same parents' hand and include change born of the same parents' fixture and two finger-joints, become born of the same parents' fixture and take degree of freedom F=2, according to clamping
It is required that in the step B) in obtain kinematic chain in select the first kinematic chain C as change born of the same parents' fixture kinematic chain；
D) in the step C) in choose the first kinematic chain C in choose first component 1 as change born of the same parents' fixture rack structure
Part is chosen and is connect with the drive member that the second component 2 of first component 1 even is change born of the same parents' fixture, selection two with first component 1
3 and the 4th component 4 of third component as the execution component for becoming born of the same parents' fixture, 3 and the 4th component 4 of third component is located at kinematic chain C
A loop within；
E) in the step B) in obtain kinematic chain in select the second kinematic chain D as become born of the same parents' hand finger-joint place
Kinematic chain, setting become born of the same parents' hand finger-joint degree of freedom Fz=2, the 5th component 5 of the second kinematic chain D is selected to be closed as finger
The rack component of section, drive member of the 6th component 6 for selecting to be connected with the 5th component 5 as finger-joint select two hands
The execution component of articulations digitorum manus, one of the 7th component 7 for performing component selection and being connected with the 5th component 5, another performs structure
Part chooses eightth component 8 opposite with the 7th component 7；
F) by the step D) in take rack component, drive member and perform component carry out Design for Regeneration, such as Fig. 3 institutes
Show, take change born of the same parents' fixture designing scheme, by the step E) in take rack component, drive member and perform component carry out again
Raw design, as shown in figure 4, the designing scheme of the finger-joint taken, then becomes born of the same parents' fixture by one and two finger-joints merges,
As shown in figure 5,1 and the 5th component 5 of first component shares, the 7th component 7 of third component 3 and a finger-joint shares, the
7th component 7 of four components 4 and another finger-joint shares, so as to obtain the designing scheme for becoming born of the same parents' hand.
Claims (1)
- It is 1. a kind of based on the change born of the same parents' hand design method for becoming born of the same parents' principle, it is characterised in that：Include the following steps：A the quantity of component in kinematic chain) is set as N, and the quantity of kinematic pair is J, then the degree of freedom F of kinematic chain meets following public Formula：F=3 (N-1) -2JIn addition, the loop quantity L of kinematic chain meets equation below：L=1+J-NIt can thus be concluded that：In formula, the number of components N, degree of freedom F and loop L are integer, and in the case where degree of freedom F is determined, calculating obtains component The combination of quantity N, kinematic pair quantity J and loop L：In formula, first numbers of the p for component, NpIt represents the quantity of p member components in kinematic chain, by Number synthesis, obtains about the number of components N, the digit synthesis result of kinematic pair quantity J, loop L and each p members the number of components；B) by the step A) in obtain digit synthesis result carry out pattern synthesis, obtain it is corresponding with digit synthesis result several A kinematic chain；C) become born of the same parents hand and include one and become born of the same parents' fixture and two finger-joints, become born of the same parents' fixture and take degree of freedom F=2, according to clamping requirement, In the step B) in obtain kinematic chain in select a kinematic chain C as change born of the same parents' fixture kinematic chain；D) in the step C) in choose component N in the kinematic chain C that choosesc1As the rack component for becoming born of the same parents' fixture, selection and structure Part Nc1Connected component Nc2Retain one as the drive member for becoming born of the same parents' fixture, in the kinematic chain C and be free of the component Nc1With Component Nc2Loop Lc1, choose two with component Nc1The component N of connectionc3With component Nc4As the execution structure for becoming born of the same parents' fixture Part, component Nc3With component Nc4Positioned at the loop L of kinematic chain Cc1Within；E) in the step B) in obtain kinematic chain in select a kinematic chain D as change born of the same parents' hand finger-joint where fortune Dynamic chain, setting become the finger-joint degree of freedom F of born of the same parents' handz=2, select the component N of kinematic chain Dd1Rack structure as finger-joint Part, selection and component Nd1Connected component Nd2Retain one as the drive member of finger-joint, in the kinematic chain D to be free of The component Nd1With component Nd2Loop Ld1, select the execution components of two finger-joints, it is one of perform component choose with Component Nd1Connected component Nd3, another performs component and chooses and component Nd3Opposite component Nd4, and component Nd3Positioned at movement The loop L of chain Dd1Except, component Nd4Positioned at the loop L of kinematic chain Dd1Within；F) by the step D) and step E) in choose rack component, drive member and perform component carry out Design for Regeneration, together When, component Nc1With component Nd1It shares, component Nc3With the component N of a finger-jointd3It shares, component Nc4It is closed with another finger The component N of sectiond3It shares, so as to obtain the designing scheme for becoming born of the same parents' hand.
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| CN201711444382.7A CN108262761A (en) | 2017-12-27 | 2017-12-27 | Based on the change born of the same parents' hand design method for becoming born of the same parents' principle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112690971A (en) * | 2020-12-24 | 2021-04-23 | 北华航天工业学院 | Comprehensive algorithm for human skeleton 7-rod closed-chain auxiliary upper machine configuration |
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| US6233502B1 (en) * | 1998-10-16 | 2001-05-15 | Xerox Corporation | Fault tolerant connection system for transiently connectable modular elements |
| CN102108717A (en) * | 2010-12-10 | 2011-06-29 | 广西大学 | Loading mechanism with metamorphic function and implementation mechanism thereof |
| CN104589366A (en) * | 2014-11-25 | 2015-05-06 | 广西大学 | Metamorphic type multifunctional mechanical gripper |
| CN106346271A (en) * | 2016-11-25 | 2017-01-25 | 广西大学 | Metamorphic multifunctional double-end clamp |
| CN107414841A (en) * | 2017-09-27 | 2017-12-01 | 哈工大机器人（合肥）国际创新研究院 | A kind of bionical complaisant grasping manipulator based on multistage metamorphic mechanisms |
Non-Patent Citations (2)
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| DING H,HUANG P,YANG W,ET AL: "Automatic generation of the complete set of planar kinematic chains with up to six independent loops and up to 19 links", 《MECHANISM AND MACHINE THEORY》 * |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112690971A (en) * | 2020-12-24 | 2021-04-23 | 北华航天工业学院 | Comprehensive algorithm for human skeleton 7-rod closed-chain auxiliary upper machine configuration |
| CN112690971B (en) * | 2020-12-24 | 2022-03-18 | 北华航天工业学院 | Comprehensive algorithm for human skeleton 7-rod closed-chain auxiliary upper machine configuration |
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Application publication date: 20180710 |