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首页> 外文期刊>Journal of Mechanisms and Robotics: Transactions of the ASME >An Underactuated Robotic Arm Based on Differential Gears for Capturing Moving Targets: Analysis and Design
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An Underactuated Robotic Arm Based on Differential Gears for Capturing Moving Targets: Analysis and Design

机译：基于差动齿轮的欠驱动机械臂用于捕获运动目标：分析和设计

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摘要

This paper presents the design of an underactuated robotic arm for capturing moving targets with an impact-absorbing capability. The arm consists of three joints (a base joint (BJ), a medial joint (MJ), and a distal joint (DJ)) that are driven by two actuators. A one-input dual-output planetary gear (PG) system, in which neither the ring gear nor the planetary carrier is fixed, is employed to distribute the driving torque between the MJ and DJ. As is well known, an underactuated arm may exhibit unstable grasping performance such that the arm loses contact with the target in certain grasping postures. Therefore, a method is presented for analyzing the equilibrium contact force and the relative movement trend between the target and the arm to determine the work space in which stable grasping is possible. The structural configuration parameters, such as the length ratios among the three beams and the reduction ratio of the PG system, were optimized to maximize the grasp stability work space. Subsequently, a prototype was designed and fabricated based on these optimized parameters. Experiments indicate that this arm design can effectively reduce the peak torque on the joints when grasping a moving target.
机译：本文提出了一种欠驱动机械臂的设计，该机械臂用于捕获具有冲击吸收能力的移动目标。手臂由三个关节（一个基本关节（BJ），一个内侧关节（MJ）和一个远端关节（DJ））组成，由两个执行器驱动。既不固定齿圈也不固定行星齿轮架的单输入双输出行星齿轮（PG）系统用于在MJ和DJ之间分配驱动扭矩。众所周知，欠驱动的手臂可能表现出不稳定的抓握性能，使得该手臂在某些抓握姿势下失去与目标的接触。因此，提出了一种用于分析目标和手臂之间的平衡接触力和相对运动趋势以确定可稳定抓握的工作空间的方法。优化了结构构型参数，例如三根梁之间的长度比和PG系统的压缩比，以最大程度地提高抓握稳定性工作空间。随后，基于这些优化参数设计并制造了原型。实验表明，这种手臂设计可以有效地减小抓住运动目标时关节上的峰值扭矩。

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