新型仿生柔性腕手构型与抓取操控性能研究

According to the food industry automation requirements for dexterous grasping soft, brittle and irregular shaped food, the research on the robot end-effector with high adaptability and compliance is the urgent demand of robot technology application and development in food industry. Inspired by the octopus tentacles and human hands which have the structure characteristics of variable hand-palm and soft fingers, the bionic flexible wrist-hand is proposed innovatively through the bionic grab mechanism analysis and configuration synthesis. The wrist-palm mechanism completes the grasping configuration and grasping space adjustment, and the soft fingers achieve the compliant grasping operation simultaneously. This project will study thoroughly the bionic grab mechanism and configuration synthesis, optimizing the structure of the wrist-palm; analyze the kinematics and dynamics characteristics of soft finger, revealing its stable grasping control mechanism; study the comprehensive properties of flexible wrist-hand, clarifying its performance influence factors and control parameters optimization method; study the adaptive matching grasp planning and " decoupling " control strategies, construct a flexible wrist-hand prototype and experimental system, and conduct the grasping experimental research. The results of the project will provide a new theoretical basis and technical support to break through the research bottleneck of compliant grasping soft, brittle and irregular shaped food. It has very important significance to improve the compliant and dexterous operation abilities for the new generation of intelligent robots, and also a broad application prospect in areas such as food packaging, agricultural products processing and services.

针对食品行业自动化对柔、脆、形状不规则食品的灵巧抓取要求，研究具有高度适应性和柔顺性的机器人末端执行器，是机器人技术在食品行业应用发展的迫切需求。受章鱼腕足、人手的变掌柔指结构特性的启发，通过仿生抓取机理分析和构型综合，创新提出了仿生柔性腕手：采用腕掌机构完成抓取位形和抓取空间的调整，同时通过软体手指完成柔顺抓取操作。本项目将深入研究仿生抓取机理和腕掌机构的构型综合，优化腕掌结构；分析软体手指的运动学与动力学特性，揭示其稳定抓持控制机理；研究柔性腕手综合性能分析方法，阐明其性能影响因素和控制参数优化方法；研究自适应匹配抓取规划与“解耦”控制策略，构建柔性腕手样机实验系统，进行抓取实验研究。本项目研究成果为突破柔、脆、形状不规则食品柔顺抓取的研究瓶颈提供新的理论依据和技术支撑，对于提高新一代智能机器人的柔顺、灵巧操作能力具有重要意义,在食品包装、农产品加工和服务等领域具有广阔的应用前景。

针对食品行业自动化对柔、脆、形状不规则食品的灵巧抓取要求，研究具有高度适应性和柔顺性的机器人末端执行器，是机器人技术在食品行业应用发展的迫切需求。本项目受章鱼腕足、人手的变掌柔指结构特性的启发，通过仿生抓取机理分析和构型综合，创新提出了仿生柔性腕手：采用腕掌机构完成抓取位形和抓取空间的调整，同时通过软体手指完成柔顺抓取操作。本项目基于对被操作对象的全面分析及生物抓取机理的深入探讨，展开对柔性腕手腕掌机构的构型分析与优化设计，提出了多种具有6自由度的可变构型腕掌机构；基于Yeoh模型与虚功原理，建立了多腔体软体手指的数学模型，揭示了驱动气压与手指运动特性的关系，基于遗传算法，提出了多段式手指的设计方法；建立了柔性腕手的运动学模型，实现了柔性腕手工作空间的分析与优化，利用卷积神经网络算法，提出了柔性腕手的自适应匹配抓取规划方法，通过对腕掌机构不同抓取构型下的抓取稳定性分析，建立了柔性腕手的“解耦”控制系统；构建了柔性腕手样机与实验系统，对不同尺寸、形状、质量与质地的物体进行了抓取实验与分析。本项目研究成果实现了对柔、脆、形状不规则物体的无损抓取与灵活操作，为机器人手的柔顺抓取提供了新的理论依据和技术支撑，对提高新一代智能机器人的柔顺、灵巧操作能力具有重要意义，在食品包装、农产品加工和服务业等领域具有广阔的应用前景。