Design Method Of Humanoid Manipulator Based On Two-bar Tensegrity Structure

In recent years,the robotic hand,as an important end effector for the interaction between robots and the environment,has always been a focus of research by researchers.Its structural adaptability,clamping force,and lightweight performance are of great significance for robots to complete work tasks.The traditional rigid manipulator has the advantages of good rigidity,high precision and good reliability.However,in the process of clamping,due to the lack of flexibility of rigid contact in the Contact process,there will be defects that the manipulator made of flexible materials cannot fully fit the object.In the process of soft grasping,the manipulator made of flexible materials will have shortcomings of inaccurate positioning and small clamping force.In response to the above drawbacks,a new type of robotic hand is designed,adopting the design concept of rigid flexible coupling,introducing a tensegrity structure as the finger belly unit,utilizing its self recovery,adaptability,compressibility and other characteristics to complement the shortcomings of traditional rigid robotic hand,ensuring that the robotic hand provides large clamping force and good reliability,while also possessing structural adaptability and flexibility.The specific research content is as follows:(1)Establish a mathematical model of the basic unit of the tensioning adaptive mechanism,perform shape finding and singularity analysis on the tensioning overall structure using the minimum potential energy method,analyze the overall stiffness of the mechanism,determine the size and angle parameters of the mechanism,analyze the stability of the structure,and provide the stiffness matching of the tensioning adaptive mechanism by solving the node force balance equation to obtain the spring stiffness of the elastic component.(2)Establish a three-dimensional model for the configuration design of the tensioning adaptive mechanism.According to the natural structure analysis of the human hand and the design method of the linkage mechanism,the flexion and extension movement of the humanoid rigid finger is realized.The kinematics analysis of the obtained linkage mechanism is carried out to obtain the joint node trajectory curve,and the integrated silicone elastomer is used to replace the elastic components.Draw the overall 3D model of a humanoid robotic finger using 3D software.(3)Introduce the development process of flexible materials as elastic units,and conduct mechanical performance testing and structural parameter selection for elastic units with different materials and wall thicknesses.Prepare integrated silicone elastomers through direct molding method.Using 3D printing equipment to prepare rigid components of humanoid robotic hands,and finally constructing the overall physical prototype.(4)Based on the developed prototype,performance testing and gripping testing were conducted on it.Firstly,the mechanical characteristics and adaptability of the tensioning mechanism finger belly unit were verified.Secondly,the flexion,straightness,and adaptability of the robotic hand were verified through a single finger experimental platform.Finally,gripping force testing and real object gripping testing were conducted through a double finger experimental platform.