Research On Working Space And Grabbing Layout Point Planning Of Rope-driven Humanoid Manipulator

In recent years,under the background of the gradual transformation of manufacturing to intelligent,robot technology had been more widely used in construction,medical,commodity sorting,automobile manufacturing and other industries.Humanoid manipulators were used as the end effectors of robots.With similar movable joints,it has higher flexibility,versatility and adaptability than traditional manipulators designed to perform specific tasks.However,only by increasing the size of the humanoid manipulator,expanding the working space of the finger and the unreasonable distribution of the position of the gripping point will affect the gripping stability of the manipulator.In order to solve this problem,this paper studies the work space size and grabbing layout point planning of the humanoid manipulator.The specific research contents are as follows:(1)Combined with the structure and functional characteristics of the human hand,the finger structure and layout of the humanoid manipulator are designed.Based on the advantages and disadvantages of the current humanoid manipulator transmission and drive system,according to the structure and space size of the finger,the wire rope coupling mechanism is selected as the transmission mechanism of finger flexion,extension and rotation movement,and the link mechanism combining the swing rod and the slot is selected as the finger side swing The moving transmission mechanism uses a micro motor as the driving source,and uses gear transmission to transmit the rotation and torque of the micro motor to the fingers.This humanoid manipulator increases the number of finger degrees of freedom without increasing the size of the manipulator,Expanding the space motion range of the manipulator.(2)According to the structural characteristics of the humanoid manipulator,the workspace of the humanoid manipulator is analyzed.Through the D-H parameter method,a single finger kinematics model is established,the single finger kinematics equation is analyzed,and the mapping relationship between the fingertip position coordinates and the finger joint size and finger joint angle is solved;the middle finger base coordinate system is used as the global base coordinate system,The finger kinematics model and the fingertip mathematical model of the humanoid manipulator established in the global coordinate system.Using MATLAB to simulate and analyze the work space size of the dexterous hand,it is concluded that the work space size of the anthropomorphic manipulator has nothing to do with the length of the swing bar of the manipulator finger side swing mechanism,and is proportional to the side swing angle and rotation angle.(3)According to the different postures of the humanoid manipulator,determine the grasping work mode,and plan the layout of the finger grabbing layout points.First,determine the gripping mode suitable for the humanoid manipulator in combination with the gesture of the human hand grabbing the object;second,analyze the type of contact between the manipulator and the target object,determine the grabbing stability index of the different contact types of the manipulator,and grasp the manipulator The mechanical analysis of the posture is used to obtain the relationship between the fingertip contact force and the grasping position matrix.Finally,the mathematical model of the grasping contact point position of the manipulator is established,and the grasping stability of the manipulator is analyzed using MATLAB to obtain the humanoid manipulator grasping The picking stability is related to the distance between the gripping plane and the center of mass of the target object,and the change rule of the gripping stability of the humanoid manipulator on the optimal gripping plane is independent of the finger position distribution.(4)In Solidworks,the kinematics and workspace scope simulation analysis of the humanoid manipulator is carried out,and an example verification of the layout planning of the humanoid manipulator's grabbing is carried out.Draw the structural model in Solidworks,set the material,cooperation relationship and motion constraints of each joint of the finger,use the Solidworks motion function module to simulate the fingertip position trajectory of the manipulator,the angular velocity of each joint and the scope of the working space,the virtual prototype model and the theoretical model Carry out comparative analysis;and verify the rationality of grasping layout point planning with examples.