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Metamorphic hand design method based on metamorphic principle

A design method and principle technology, applied in the direction of calculation, manipulator, electric digital data processing, etc., can solve the problems of large grasping error, long production cycle, lower grasping efficiency and system reliability, etc., achieve high added value, make up for Effects of robot errors, improved gripping efficiency, and system reliability

Inactive Publication Date: 2018-07-10
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

However, the production cycle of these end effectors is long. When in use, due to the change of the grasped object, the grasping error is large, which reduces the grasping efficiency and the reliability of the system.

Method used

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  • Metamorphic hand design method based on metamorphic principle
  • Metamorphic hand design method based on metamorphic principle
  • Metamorphic hand design method based on metamorphic principle

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Embodiment Construction

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0029] A method for designing a metamorphic hand based on the metamorphic principle, comprising the following steps:

[0030] A) Set the number of components in the kinematic chain as N and the number of kinematic pairs as J, then the degree of freedom F of the kinematic chain satisfies the following formula:

[0031] F=3(N-1)-2J

[0032] In addition, the number of loops L of the kinematic chain satisfies the following formula:

[0033] L=1+J-N

[0034] Therefore:

[0035]

[0036] In the formula, the number of components N, the degree of freedom F, and the loop L are all integers. When the degree of freedom F is determined, the combination of the number of components N, the number of kinematic pairs J, and the loop L is calculated:

[0037]

[0038] In the formula, p is the element number of the component, N p Indicates th...

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Abstract

The invention relates to the field of mechanism kinematic chains, and discloses a metamorphic hand design method based on a metamorphic principle. The metamorphic hand design method based on the metamorphic principle comprises the steps of through number synthesis, obtaining a digital synthesis result regarding to the component number, the kinematic pair number, a loop and each multielement component number, then carrying out type synthesis, obtaining a kinematic chain, further selecting the kinematic link meeting the requirement to select components for regenerative design, and thus obtaininga design scheme of a metamorphic hand. According to the metamorphic hand design method based on the metamorphic principle provided by the invention, the metamorphic hand is designed through a combination method of the kinematic chain based on the metamorphic principle, so that irregular objects with different sizes are grabbed, the grabbing efficiency and the system reliability are improved, a robot error is remedied, and a higher additional value is brought for an assembling system.

Description

technical field [0001] The invention relates to the field of mechanism kinematic chains, in particular to a method for designing a metamorphic hand based on the metamorphic principle. Background technique [0002] Since the appearance of the robot hand, it has greatly made up for the shortcomings of the traditional end effector. The end effector is a device that directly performs work, and it has a great influence on the operating function, application range and efficiency of the robot. Therefore, it is very important to study the structural analysis of robot end effectors. In traditional robot designs, the palm used as an end effector is usually a rigid body, and the angles between different fingers are fixed, which limits the dexterity of the palm. [0003] In the prior art, some palms that simulate human hands, including human prosthetics, have been developed. For example, an anthropomorphic finger mechanism developed by New Zealander Azlan can perform ordinary graspin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08B25J19/00G06F17/50
CPCB25J15/08B25J19/007G06F30/17
Inventor 孙伟孔建益张瑶
Owner WUHAN UNIV OF SCI & TECH
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