面向中餐的助餐机器人末端欠驱动型夹取机构设计与仿真分析
The Design and Simulation Analysis of the End-Underactuated Gripper Mechanism of the Meal-Assistance Robot for Chinese food
DOI: 10.12677/MOS.2023.124361, PDF,    科研立项经费支持
作者: 高 兴, 张 琳, 周 洲：上海理工大学康复工程与技术研究所，上海；胡冰山*, 喻洪流：上海理工大学康复工程与技术研究所，上海；上海康复器械工程技术研究中心，上海
关键词: 助餐机器人；欠驱动型夹持装置；柔性夹持；仿真；Meal-Assistance Robot； Underactuated Gripper Mechanism； Flexible Gripper； Simulation
摘要: 本文介绍了一种基于柔性夹持筷子的欠驱动型夹取机构，用于面向中餐的助餐机器人智能辅具中。本文先基于研究现状分析了目前研究的各类助餐机器人的优劣，提出了2自由度的欠驱动型平面四连杆机构。接着通过理论建模求得了接触力f的算法。随后使用Adams仿真软件模拟机构运动轨迹，并测得了在给定食物尺寸和输入角度的情况下接触力f与食物刚度K的关系，结果表明该机构设计满足设计要求，证明了本文欠驱动型夹持机构的可行性。
Abstract: This paper introduces an underactuated gripper mechanism based on flexible gripper chopsticks, which is used in Chinese meal-assistance robot intelligent auxiliary tools. This paper first analyzes the advantages and disadvantages of various types of meal-assisting robots based on current re-search status, and proposes a 2 DOF underdriven planar four-link mechanism. Then the algorithm for the contact force f was derived by theoretical modeling. The trajectory of the mechanism was then simulated using Adams simulation software, and the relationship between the contact force f and the food stiffness K was measured for a given food size and input angle. The results show that the design of the mechanism meets the design requirement, proving the feasibility of the underac-tuated gripper mechanism.
文章引用：高兴, 张琳, 周洲, 胡冰山, 喻洪流. 面向中餐的助餐机器人末端欠驱动型夹取机构设计与仿真分析[J]. 建模与仿真, 2023, 12(4): 3959-3967. https://doi.org/10.12677/MOS.2023.124361

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