欠驱动索杆桁架式机械手爪及其模糊控制方法研究

项目名称： 欠驱动索杆桁架式机械手爪及其模糊控制方法研究

项目编号： No.51275107

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 机械、仪表工业

项目作者： 刘荣强

作者单位： 哈尔滨工业大学

项目金额： 80万元

中文摘要： 随着太空活动和空间探测任务的增加，对航天器进行在轨服务与维护、捕获非合作目标等任务需求越来越迫切，需要应用各种空间机械手爪。本项目提出一种具有形状自适应的索杆桁架式欠驱动机械手爪，该手爪由若干个绳驱动四杆机构联接而成，采用模块化结构，可扩展为大尺度空间用机械手爪。欠驱动机构减少了驱动装置，有利于减轻机构重量、降低结构复杂度、减少能耗，对目标物体形状具有良好的自适应能力，在捕获时不要求感知目标物体的精确空间位置和几何形状，具有广阔的空间应用前景。目前围绕欠驱动机构的动力学耦合与奇异、系统可控性与控制方法等方面的研究尚不成熟，还存在着重要的理论问题和技术难点,因此本项目将围绕欠驱动机械手爪的创新设计、运动学及动力学建模与分析、可控性与控制方法、样机研制与实验等方面开展研究工作。本项目旨在欠驱动机械手爪的创新设计与控制方法方面取得突破性进展，为新型空间机械手爪的实际应用提供理论依据与技术成果。

中文关键词： 欠驱动机械手；目标抓取；动力学建模；模糊控制；形状自适应

英文摘要： With the increase of space activitys and space exploration, various space robot hands are necessary for the orbit service and maintenance of spacecrafts, and grasp of uncooperation objects. In this project, a kind of cable-strut truss underactuation robot hand is proposed, which has the ability of shape adaption. The robot hand is constructed by several four-linkage mechanisms driven by cables, which can be used as large scale robot hands in space by using the modular structures.Underactuated mechanism is beneficial to lower the mechanism weight, reduce structural complexity and energy consumption due to has less actuators. It is not required to know accuracy special position and geometric shape of target object, because of its adaption ability. The underactuated mechanism has wide application prospect in space environment. At present, the research on dynamic coupling and singular of the underactuation mechanism, controllability and control method of system is still immature. The critical theoretical issues and technical difficulties of the underactuation mechanism are eager to be solved. Thus following research works will be investigated in this project: Innovative design of underactuation hand, Kinematic and dynamic modeling and analysis, Controllability and control strategy, Manufacture and experiment of unde

英文关键词： underactuated；grasp；dynamics model building；fuzzy control；shape adaptation