球面五杆变胞机械手运动分析与手掌综合
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摘要
本文从工程实际出发，运用球面机构运动几何学、最优化方法、计算机数值计算和CAE仿真技术等学科的理论成果，对球面五杆变胞机械手掌的机构尺寸综合进行了深入系统的研究，建立了球面五杆变胞机械手掌尺寸综合的模型，并编制了相应的优化综合程序。
首先，建立了球面五杆机构的机构运动模型，采用位移旋转矩阵方法对球面五杆机构的机构运动进行分析，在此基础之上详细介绍了球面五杆变胞机械手的抓取特性。运用机械手指工作平面法向量的运动轨迹进行机械手工作性能的分析研究，并采用三指共线条件对机械手指的正确抓取姿态性能进行了评价。采用变胞机械手三个的机械手指的工作空间三角形的面积作为球面五杆变胞机械手的工作空间评价标准。在此基础上提出了以变胞机械手实现更多正确抓取姿态以及各个抓取姿态的工作空间最大为目标的球面五杆变胞机械手掌尺寸优化综合模型。
接着，依据变胞机械手掌的综合模型提出了分自由度降维优化综合的方法，按照球面五杆机械手掌两自由度的控制输入将其划分为安装机械手指的球面开式三连杆和实现机械手掌机构变胞的球面开式二连杆两个机构，分别建立综合模型进行结构尺寸优化，然后将两组开式机构组合成球面五杆变胞机械手。
最后，依照球面五杆变胞机械手掌的综合模型采用遗传进化和鞍点规划思想编写了球面五杆变胞机械手掌综合的优化程序，并进行了实例计算，通过对综合所得的一组尺寸的变胞机械手机构进行性能分析，详细评价了该变胞机械手在各个抓取姿态的工作空间和正确抓取近似程度。并用Pro／Engineer进行机械手的三维建模，仿真了机械手的抓取姿态。验证了球面五杆变胞机械手掌机构综合模型的有效性。
This dissertation describes a novel robotic hand with a metamorphic palm, which is different from the traditional structure of a robotic hand. Based on analysis of the grasping operation and workspace of the robotic hand, a new approach of synthesis for spherical five-bar metamorphic palm is presented in the dissertation.
At first, the kinematics model of a 2-DOF spherical 5R parallel mechanism is established. This model is discussed through displacement matrix method in details. The finger-operation plane and the workspace triangle are introduced to study the capability of the metamorphic palm.
Secondly, the question for forming a spherical five-bar metamorphic palm is broken down into two relatively independent sub-questions. The first one is to create an open loop of three spherical links, on which the three fingers can achieve a maximum workspace. Its mathematical model is nonlinear and non-differential with multiple constraints. The problem is resolved by genetic algorithm followed by BFGS's method. The second one is to search approximate character points on moving spherical link with designed workspace and to then generate the metamorphic palm, whose mathematic model is also nonlinear and non-differential, constrained by many conditions. This is a kind of special non-differential max-mini optimal problem with inequality constraints. By the method of Saddle-point Programming and maximum entropy, the problem can be transformed into a differential optimal problem with single objective. Generally an optimal result depends on the initial point. In this dissertation, a series of good initial points is produced automatically by genetic algorithm.
Finally, synthesis results are given to illustrate the effectiveness of the approach. 3D CAD modeling is provided to show the designed poses of the robotic hand.
首先，建立了球面五杆机构的机构运动模型，采用位移旋转矩阵方法对球面五杆机构的机构运动进行分析，在此基础之上详细介绍了球面五杆变胞机械手的抓取特性。运用机械手指工作平面法向量的运动轨迹进行机械手工作性能的分析研究，并采用三指共线条件对机械手指的正确抓取姿态性能进行了评价。采用变胞机械手三个的机械手指的工作空间三角形的面积作为球面五杆变胞机械手的工作空间评价标准。在此基础上提出了以变胞机械手实现更多正确抓取姿态以及各个抓取姿态的工作空间最大为目标的球面五杆变胞机械手掌尺寸优化综合模型。
接着，依据变胞机械手掌的综合模型提出了分自由度降维优化综合的方法，按照球面五杆机械手掌两自由度的控制输入将其划分为安装机械手指的球面开式三连杆和实现机械手掌机构变胞的球面开式二连杆两个机构，分别建立综合模型进行结构尺寸优化，然后将两组开式机构组合成球面五杆变胞机械手。
最后，依照球面五杆变胞机械手掌的综合模型采用遗传进化和鞍点规划思想编写了球面五杆变胞机械手掌综合的优化程序，并进行了实例计算，通过对综合所得的一组尺寸的变胞机械手机构进行性能分析，详细评价了该变胞机械手在各个抓取姿态的工作空间和正确抓取近似程度。并用Pro／Engineer进行机械手的三维建模，仿真了机械手的抓取姿态。验证了球面五杆变胞机械手掌机构综合模型的有效性。
This dissertation describes a novel robotic hand with a metamorphic palm, which is different from the traditional structure of a robotic hand. Based on analysis of the grasping operation and workspace of the robotic hand, a new approach of synthesis for spherical five-bar metamorphic palm is presented in the dissertation.
At first, the kinematics model of a 2-DOF spherical 5R parallel mechanism is established. This model is discussed through displacement matrix method in details. The finger-operation plane and the workspace triangle are introduced to study the capability of the metamorphic palm.
Secondly, the question for forming a spherical five-bar metamorphic palm is broken down into two relatively independent sub-questions. The first one is to create an open loop of three spherical links, on which the three fingers can achieve a maximum workspace. Its mathematical model is nonlinear and non-differential with multiple constraints. The problem is resolved by genetic algorithm followed by BFGS's method. The second one is to search approximate character points on moving spherical link with designed workspace and to then generate the metamorphic palm, whose mathematic model is also nonlinear and non-differential, constrained by many conditions. This is a kind of special non-differential max-mini optimal problem with inequality constraints. By the method of Saddle-point Programming and maximum entropy, the problem can be transformed into a differential optimal problem with single objective. Generally an optimal result depends on the initial point. In this dissertation, a series of good initial points is produced automatically by genetic algorithm.
Finally, synthesis results are given to illustrate the effectiveness of the approach. 3D CAD modeling is provided to show the designed poses of the robotic hand.
引文
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[21] 车林仙．按许用传动角综合正置式球面曲柄摇杆机构．机械科学与技术，2002，21(5)：765-766
[22] 车林仙．用辅助角法设计正置式球面曲柄摇杆机构．机械设计，2003，20(4)：61-62
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[25] 王德伦，王淑芬，张保印．球面四杆机构近似函数综合的自适应方法．机械工程学报，2004，40(2)：45-49
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[29] Jacobsen S C, Wood J E, Knutti D F, et al. The UTAH/MIT Dextrous Hand: Work in Progress[J]. The InternationalJournalofRoboticsResearch. 1984,3(4):21-50.
[30] Nakano Y, Fujie M, Hosada Y. Hitachi's robot hand[J].Robotics Age, 1984,6(7):18-20.
[31] 何平，金明河，刘宏，等．机器人多指灵巧手基关节力矩位置控制系统的研究[J]．机器人．2002，24(4)：314-318．
[32] Dinsdale J. Short course on electronics and control for mechanical engineers: high performance servo actuators and drives[A]. Cranfield, Coll. Manuf. CranfieldInst. Technology [C].1986.
[33] Archer J R, Blenkinsop P T. Actuation for industrial robots[J]. ProcInst Mear Engrs B: J Mgmt Eng Manuf, 1996,200:85-89.
[34] Jian S. Dai and De Lun Wang, Geometric Analysis and Palm Synthesis of the Metamorphic Robotic Hand. (待发表)
[35] Delun Wang, Lei Cui, and Jian S. Dai, Workspace Analysis of the Metamorphic Multifingered Dexterous Hand. (待发表)
[36] C.H. CHIANG Kinematics of spherical mechanisms Cambridge University Press, 1988
[37] 张启先，空间机构的分析与综合(上册)，北京：机械工业出版社，1984．
[38] 黄真，孔令富，方跃法．并联机器人机构学理论及控制．北京：机械工业出版社，1997
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[41] 黄真，赵永生，赵铁石 高等空间机构学．北京：高等教育出版社，2006
[42] 曹惟庆，连杆机构的分析与综合．北京：科学出版社，2002
[43] 赵匀，机构数值分析与综合．北京：机械工业出版社，2005
[44] 项武义基础几何学之二：向量几何，解析几何与球面几何．
[45] 白师贤．高等机构学．上海：上海科学技术出版社，1988
[46] 王德伦．机构运动微分几何学研究．大连理工大学博士论文，1994
[47] 王德伦，王淑芬，李涛．平面四杆机构近似运动综合的自适应方法．机械工程学报，2001，37(12)：21-26
[48] 李涛．基于简单曲线自适应逼近的平面连杆机构优化综合理论与方法的研究．大连理工大学博士学位论文
[49] Salisbury J. K Kinematic and force analysis of articulated hands. Ph.D. dissertation Dep Mech Eng, Stanford Univ, Stanford, CA, 1982
[50] 苏金明，阮沈勇，王永利．MATLAB工程数学．北京：电子工业出版社，2005
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[2] Design and development of a light weight embodied robotic hand activated with only one actuators[J]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2005). Edmonton. Canada. Aug, 2005.
[3] 陆祥生，杨秀莲．机械手理论及应用[M]．北京：中国铁道出版社，1983。
[4] Dai, J.S. and Rees Jones, J., Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds, 25th ASME Biennial Mechanisms and Robotics Conference, Atlanta, GA, September 1998.
[5] Dai, J.S. and Rees Jones, J., Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds, Transactions of the ASME, Journal of Mechanical Design, 1999, 121(3): 375-382.
[6] Dai J S. The Metamorphic Robotic Hand, GB and PCT Patent GB04/09548.1, 2004.
[7] Dai JS and Rees Jones, J, ASME, 2OO4, Matrix Representation of Configuration Transformation of Metamorphic Mechanisms, submitted t o ASME Transactions: Journal of Mechanical Design, 2004.
[8] 丁希仑，田娜，戴建生，14届全国机构学学术研讨会，2004．
[9] Chen, I.M, Li, H.S. And Cathala, (2003), A Mechatronic Design and Locomotion of Amoebot—A Metamorphic Underwater Vehicle, Journal of Robotic Systems, Vol. 20(6):307-314.
[10] B. Ravani, B. Roth, Motion Synthesis Using Kinematic Mappings, ASME Journal of Mech., Trans., and Auto. In Des., 1983,105(3): 460-467
[11] B. Ravani, B. Roth, Mappings of Spatial Kinematics, ASME Journal of Mech., Trans., and Auto. In Des., 1984, 106(3): 341-347.
[12] R. M. C. Bodduluri, J.M. McCarthy, Finite Position Synthesis Using the Image Curve of a Spherical Four-Bar Motion. Journal of Mechanical Design, March, 1992, 114: 55-60
[13] Q. J. Ge, P.M. Larochelle, Algebraic Motion Approximation With NURBS Motions and Its Application to Spherical Mechanism Synthesis, Journal of Mechanical Design Dec. 1999, 121: 529-532.
[14] Farhang K., Zargar Y. S. Design of spherical 4R mechanisms: function generation for the entire motion cycle. Journal of Mechanical Design Dec. 1999, 121: 521-528.
[15] J. Angles, Z. Liu. The constrained least-square optimization of spherical four-bar path generators. Journal of Mechanical Design, September 1992, 114: 394-405
[16] Tse D. M., Larochelle P. M. Approximating spatial locations with spherical orientations for spherical mechanism design. Journal of Mechanical Design, Transaction of the ASME, December 2000, 122:457-463
[17] 姜定元．球面四杆机构综合的极射赤面投影方法．西北工业大学学报，1990，8(4)：408-415
[18] 吴琼，阎敏，王文博．球面4R机构的位置分析和运动综合．北京服装学院学报，1998，18(2)：67～71
[19] 姚进．转向装置球面四杆机构的综合．机械设计与制造工程，2001，30(2)：12-13
[20] 车林仙．按行程速比系数设计球面曲柄摇杆机构的解析方法．机械设计，2002，3：45-47
[21] 车林仙．按许用传动角综合正置式球面曲柄摇杆机构．机械科学与技术，2002，21(5)：765-766
[22] 车林仙．用辅助角法设计正置式球面曲柄摇杆机构．机械设计，2003，20(4)：61-62
[23] 李天箭，王德伦．球面机构的相伴方法与运动几何学研究．大连理工大学学报，2004，40(4)：456-460
[24] 李天箭．球面机构的相伴方法与运动几何学研究．大连理工大学硕士学位论文
[25] 王德伦，王淑芬，张保印．球面四杆机构近似函数综合的自适应方法．机械工程学报，2004，40(2)：45-49
[26] 张保印．球面四杆机构函数综合理论与方法的研究．大连理工大学硕士学位论文
[27] Okada T. Computer control of multi-jointed finger system for precise object-handing [J].IEEE Transactions on Systems, Manand Cybernetics. 1982, 12(3):289-299.
[28] Mason M T, Salisbury J K. Robot hands and the mechanics of manipulation[J].MIT Press, Cambridge, USA, 1985:3-93.
[29] Jacobsen S C, Wood J E, Knutti D F, et al. The UTAH/MIT Dextrous Hand: Work in Progress[J]. The InternationalJournalofRoboticsResearch. 1984,3(4):21-50.
[30] Nakano Y, Fujie M, Hosada Y. Hitachi's robot hand[J].Robotics Age, 1984,6(7):18-20.
[31] 何平，金明河，刘宏，等．机器人多指灵巧手基关节力矩位置控制系统的研究[J]．机器人．2002，24(4)：314-318．
[32] Dinsdale J. Short course on electronics and control for mechanical engineers: high performance servo actuators and drives[A]. Cranfield, Coll. Manuf. CranfieldInst. Technology [C].1986.
[33] Archer J R, Blenkinsop P T. Actuation for industrial robots[J]. ProcInst Mear Engrs B: J Mgmt Eng Manuf, 1996,200:85-89.
[34] Jian S. Dai and De Lun Wang, Geometric Analysis and Palm Synthesis of the Metamorphic Robotic Hand. (待发表)
[35] Delun Wang, Lei Cui, and Jian S. Dai, Workspace Analysis of the Metamorphic Multifingered Dexterous Hand. (待发表)
[36] C.H. CHIANG Kinematics of spherical mechanisms Cambridge University Press, 1988
[37] 张启先，空间机构的分析与综合(上册)，北京：机械工业出版社，1984．
[38] 黄真，孔令富，方跃法．并联机器人机构学理论及控制．北京：机械工业出版社，1997
[39] 苏步青，胡和生，沈纯理，等．微分几何．北京：高等教育出版社，1994
[40] 彭家贵，陈卿．微分几何．北京：高等教育出版社，2002
[41] 黄真，赵永生，赵铁石 高等空间机构学．北京：高等教育出版社，2006
[42] 曹惟庆，连杆机构的分析与综合．北京：科学出版社，2002
[43] 赵匀，机构数值分析与综合．北京：机械工业出版社，2005
[44] 项武义基础几何学之二：向量几何，解析几何与球面几何．
[45] 白师贤．高等机构学．上海：上海科学技术出版社，1988
[46] 王德伦．机构运动微分几何学研究．大连理工大学博士论文，1994
[47] 王德伦，王淑芬，李涛．平面四杆机构近似运动综合的自适应方法．机械工程学报，2001，37(12)：21-26
[48] 李涛．基于简单曲线自适应逼近的平面连杆机构优化综合理论与方法的研究．大连理工大学博士学位论文
[49] Salisbury J. K Kinematic and force analysis of articulated hands. Ph.D. dissertation Dep Mech Eng, Stanford Univ, Stanford, CA, 1982
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