连续体机构及其在仿人形假肢手中的应用
发布时间：2023-06-05 00:57
多指灵巧手的研究在过去几十年已经取得了极大的进展,展示出了出色的抓取与操作能力。然而假肢的特殊用途对假肢手的设计提出了更高的需求:轻量化、抓取模式多样、高性价比以及控制方法简单等。针对这些挑战,本文主要研究新型连续体机构及其在假肢手设计中的应用。连续体机构采用弹性杆件作为结构体,相比传统刚性杆件机器人具有多项明显的优势,例如可以与环境实现安全交互、在受限空间内实现灵巧操作以及抓取非结构化物体等,因而在最近十余年成为了研究热点。本文首次将连续体机构引入到假肢手研究中,将其作为传动机构以实现对多关节假肢手的耦合或差分驱动,对假肢手设计中的多个难点问题提出了创新的解决方案。本文首先提出了一种合成连续体机构,以实现对仿人假肢手的运动协同驱动。合成连续体机构可将两路运动输入线性组合映射为多路运动输出,输入输出之间具有线性的协同关系。本文分别采用线性降维方法和非线性方法综合了多自由度机械手的主运动协同,建立了线性主运动和合成连续体机构之间的数学关系,提出了该机构的参数设计方法,并设计了一型原理样机用于实验验证。实验表明,使用合成连续体机构的仿人机械手可以实现多种的抓取动作。通过合理的小型化设计,该...
【文章页数】：157 页
【学位级别】：博士
【文章目录】：
Abstract
摘要
Acknowledgements
1. Introduction
1.1 Background
1.1.1 Dexterous robotic hands
1.1.2 Prosthetic hands
1.1.3 Transmissions for prosthetic hands
1.1.4 Continuum mechanisms
1.2 Motivation
1.3 Organization
2. Composed Continuum Mechanism (CCM)
2.1 Introduction of CCM
2.2 Nomenclature and kinematics
2.3 Discussion
3. Synergy Implementation Using the CCM
3.1 Hand postural synergy
3.1.1 Prosthetic hand design and posture collection
3.1.2 Linear and nonlinear method for synergy synthesis
3.1.3 Verification and comparison
3.2 Implementing linear synergies using the CCM
3.2.1 Anthropomorphic hand design
3.2.2 Postural synergy synthesis
3.2.3 Design of the CCM
3.2.4 Experimental verifications
3.3 Discussion
4. Continuum Differential Mechanisms (CDMs)
4.1 Introduction of CDMs
4.2 Kinetostatic analysis and comparisons
4.2.1 Analysis of the spatial CDM
4.2.2 Analysis of the Planar CDM
4.2.3 Comparisons to two differential mechanisms
4.3 Gripper designs and experimentation
4.3.1 Force transmission properties of the CDMs
4.3.2 Gripper performance characterizations
4.4 Discussion
5. Applications of the CMDs
5.1 A partial hand prosthesis
5.1.1 Design objectives and overview
5.1.2 Design descriptions
5.1.3 Experimental characterizations
5.2 A transradial hand prosthesis
5.2.1 Design motivations
5.2.2 Design concept and overview
5.2.3 Design descriptions and analyses
5.2.4 Experimental characterizations
5.3 Discussion
6 Conclusion
6.1 Contributions
6.2 Future Directions
Appendix A
Appendix B
Bibliography
本文编号：3831366
【文章页数】：157 页
【学位级别】：博士
【文章目录】：
Abstract
摘要
Acknowledgements
1. Introduction
1.1 Background
1.1.1 Dexterous robotic hands
1.1.2 Prosthetic hands
1.1.3 Transmissions for prosthetic hands
1.1.4 Continuum mechanisms
1.2 Motivation
1.3 Organization
2. Composed Continuum Mechanism (CCM)
2.1 Introduction of CCM
2.2 Nomenclature and kinematics
2.3 Discussion
3. Synergy Implementation Using the CCM
3.1 Hand postural synergy
3.1.1 Prosthetic hand design and posture collection
3.1.2 Linear and nonlinear method for synergy synthesis
3.1.3 Verification and comparison
3.2 Implementing linear synergies using the CCM
3.2.1 Anthropomorphic hand design
3.2.2 Postural synergy synthesis
3.2.3 Design of the CCM
3.2.4 Experimental verifications
3.3 Discussion
4. Continuum Differential Mechanisms (CDMs)
4.1 Introduction of CDMs
4.2 Kinetostatic analysis and comparisons
4.2.1 Analysis of the spatial CDM
4.2.2 Analysis of the Planar CDM
4.2.3 Comparisons to two differential mechanisms
4.3 Gripper designs and experimentation
4.3.1 Force transmission properties of the CDMs
4.3.2 Gripper performance characterizations
4.4 Discussion
5. Applications of the CMDs
5.1 A partial hand prosthesis
5.1.1 Design objectives and overview
5.1.2 Design descriptions
5.1.3 Experimental characterizations
5.2 A transradial hand prosthesis
5.2.1 Design motivations
5.2.2 Design concept and overview
5.2.3 Design descriptions and analyses
5.2.4 Experimental characterizations
5.3 Discussion
6 Conclusion
6.1 Contributions
6.2 Future Directions
Appendix A
Appendix B
Bibliography
本文编号：3831366
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