苹果采摘机器人仿生机械手静力学分析与仿真

提出了一种应用于苹果采摘机器人末端执行器的仿生机械手。采用腱传动式仿生机械手取代了简单的夹具，提高了末端执行器在复杂环境中抓取苹果的适应性。建立了腱传动式机械手开环控制的驱动力和抓握力间的力学模型。仿真结果表明，在相同的驱动力下，腱传动仿生机械手的抓握力与其机构参数相关。其中，有效抓握力由手指的长度和厚度决定；抓握力的分布由各指节的长度比例决定；手指的初始张角决定了其可抓取苹果的半径范围；随着苹果半径的增大，有效抓握力将减小。摩擦力能够改善抓握力在各指节的分布，使抓握力分布均匀化，同时使有效抓握力变大。

Statics Analysis of Apple-picking Robot Humanoid Manipulator

A humanoid manipulator applying to the end effector of an apple picking robot was introduced. Substituting a tendon-actuated manipulator for the simple gripper can improve the adaptability for the end effector to catch apples in intricate surroundings. To realize the open-loop control of the tendon-actuated manipulator, the relationship model of the actuating force and grasping force is necessary. By simulation, the model was established in this paper. Under the same actuating force, the grasping force of the tendon actuated humanoid manipulator was related to the parameters of mechanism. The virtual grasping force was determined by the length and thickness of fingers. The distribution of grasping force was determined by the lengthy proportions of the phalanges. The original angle between the fingers determined the radius range of the apples. As the radius of apples increased, the virtual grasping force decreased. Frictions could homogenize the distribution of grasping force as well as enlarge the virtual force.