车载欠驱动变构装载机械臂的运动静力学与粒子群优化
Kinetostatics and Particle-Swarm Optimization of Vehicle-Mounted Underactuated Metamorphic Loading Manipulators
AI总结：
针对固定自由度装载机构执行器多、控制复杂、适应性差的问题，提出集成变构臂与被动自适应夹爪的 UMLM，并通过运动静力学分析和 PSO 参数优化验证其高效灵活抓取能力。
摘要：
固定自由度（DoF）装载机构往往存在执行器过多、控制复杂以及对动态任务适应能力有限的问题。本研究提出一种创新的欠驱动变构装载机械臂（UMLM）机构，将变构机械臂与被动自适应夹爪相结合。该变构机械臂利用几何约束，无需额外执行器即可实现拓扑重构和灵活的运动轨迹。自适应夹爪完全由机械臂驱动，通过被动柔顺性贴合各种物体。研究建立了结构模型，并开展运动静力学分析，以研究同构抓取构型。为优化性能，采用粒子群优化（PSO）细化夹爪的尺寸参数，确保其在各类应用中具备稳健的适应能力。仿真结果验证了 UMLM 易于实现的控制策略、操作多功能性，以及在动态环境中抓取多样物体的有效性。本工作强调了欠驱动变构机构在需要高效、适应性装载方案的应用中的实际潜力。除该具体设计外，这一通用建模与优化框架还可扩展到更广泛的机械臂类别，为开发需要效率、灵活性和稳健性能的机器人系统提供可扩展方法。
英文摘要：
Fixed degree-of-freedom (DoF) loading mechanisms often suffer from excessive actuators, complex control, and limited adaptability to dynamic tasks. This study proposes an innovative mechanism of underactuated metamorphic loading manipulators (UMLM), integrating a metamorphic arm with a passively adaptive gripper. The metamorphic arm exploits geometric constraints, enabling the topology reconfiguration and flexible motion trajectories without additional actuators. The adaptive gripper, driven entirely by the arm, conforms to diverse objects through passive compliance. A structural model is developed, and a kinetostatics analysis is conducted to investigate isomorphic grasping configurations. To optimize performance, Particle-Swarm Optimization (PSO) is utilized to refine the gripper's dimensional parameters, ensuring robust adaptability across various applications. Simulation results validate the UMLM's easily implemented control strategy, operational versatility, and effectiveness in grasping diverse objects in dynamic environments. This work underscores the practical potential of underactuated metamorphic mechanisms in applications requiring efficient and adaptable loading solutions. Beyond the specific design, this generalized modeling and optimization framework extends to a broader class of manipulators, offering a scalable approach to the development of robotic systems that require efficiency, flexibility, and robust performance.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
