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提出了一种基于气动柔性驱动器的3个自由度手指指节法向力可控的包络抓持模型。分析了目标物体受力状况,按照手指指节与目标物体之间的各个接触力尽量均匀的原则,对目标物体受力进行了优化。建立了关于手指指节接触点所受到的法向力及摩擦力与关节驱动器输出力之间的力学模型。使用2个触力传感器,应用杠杆原理建立了接触点法向力及其作用点的测量模型。提出了指节接触点法向力的双闭环控制策略,设置了补偿器对摩擦力进行实时补偿,对压力反馈信号进行微分处理,用以消除压力检测信号中所包含的高频噪声。搭建了试验平台,试验结果表明:手指法向力动态响应时间为约1 s,误差范围稳定在±0.5 N。
A three-degree-of-freedom controlled enveloping grasping model based on pneumatic flexible actuator is proposed. The force condition of the target object is analyzed. According to the principle that the contact forces between the finger knuckle and the target object are as uniform as possible, the force of the target object is optimized. A mechanical model was established between the normal force and the frictional force at the contact point of the finger knuckle and the output force of the joint driver. Using 2 touch sensors, a measuring model of the normal force at the contact point and its point of action is established by using the lever principle. A double closed-loop control strategy is proposed for the normal force at the knuckle contact point. The compensator is used to compensate the friction force in real time. The pressure feedback signal is differentiated to eliminate the high-frequency noise contained in the pressure signal. The experimental platform is built. The experimental results show that the dynamic response time of finger normal force is about 1 s and the error range is stable at ± 0.5 N.