- I -基于多傳感器的空間機(jī)器人手爪結(jié)構(gòu)設(shè)計(jì)摘要人類的空間活動(dòng)己經(jīng)由單純的空間考察和研究時(shí)代進(jìn)入開(kāi)發(fā)利用空間資源的時(shí)代，獨(dú)特的太空環(huán)境為人類提供了特定的科研場(chǎng)所和空間生產(chǎn)基地。空間機(jī)器人不僅可以取代人去完成某些特定工作，也可以完成某些人所不能夠完成的工作。世界各空間大國(guó)均充分認(rèn)識(shí)到空間機(jī)器人在未來(lái)空間活動(dòng)的重要作用，都在加緊進(jìn)行空間機(jī)器人的研制工作，并投以巨資加以支持，但是建造一種全自主式的智能機(jī)器人系統(tǒng)，而采用多傳感器智能手爪系統(tǒng)賦予空間機(jī)器人局部自主能力的方案己得到專家們共識(shí)。將多種傳感器集成在機(jī)器人手爪上構(gòu)成多傳感器集成手爪系統(tǒng)能最有效地反映外界環(huán)境及工作對(duì)象的狀態(tài)，最直接的描述工作對(duì)象及其所在的外界環(huán)境、操作工具及其所操作的對(duì)象的關(guān)系，基于多種傳感器信息通過(guò)信息融合技術(shù)將這些信息合并成統(tǒng)一的綜合信息，從而準(zhǔn)確、全面地描述和識(shí)別環(huán)境中物體的特征，供機(jī)器人進(jìn)行識(shí)別、判斷、決策和規(guī)劃，進(jìn)而在高層次上進(jìn)行控制，因此研制空間多傳感器智能手爪成為空間機(jī)器人關(guān)鍵技術(shù)之一空間機(jī)器人智能程度的高低很大程度上平?jīng)Q于先進(jìn)的傳感器技術(shù)、多傳感器集成技術(shù)以及多傳感器信息融合技術(shù)?？臻g機(jī)器人多傳感器智能手爪的研究正式致力解決多傳感器集成技術(shù)及其多傳感器信息處理技術(shù)。同時(shí)，該項(xiàng)目的研究是在跟蹤世界先進(jìn)水平，掌握國(guó)際上空間機(jī)器人多傳感器智能手爪最新技術(shù)，縮短同國(guó)外先進(jìn)水平差距的背景下進(jìn)行的，該項(xiàng)成果對(duì)加速我國(guó)空間機(jī)器人的發(fā)展發(fā)揮了積極作用，并將推動(dòng)我國(guó)空間機(jī)器人技術(shù)的發(fā)展。關(guān)鍵詞 空間機(jī)器人；傳感器；結(jié)構(gòu)設(shè)計(jì)；三指手爪 - II -Structural Design of Space Robot with Three Refers to Gripper Based on SensersAbstractMankind's space activities have been purely through the era of space exploration and research into the development and utilization of space resources of the times, the unique environment of space for human provide a specific place and space scientific research production base. Space robots can replace people to complete certain work and to be completed by some people not able to complete the work. The world's space powers are fully aware of space robots in the future the important role of space activities, are stepping up the development of space robots, and voted to huge amounts of money to support it, but the construction of a fully autonomous intelligent robot system And the intelligent use of multi-sensor system gives space robot gripper partial autonomy of the programme has been the experts consensus. Will be integrated in a variety of sensors on a robot gripper Gripper integrated multi-sensor system can most effectively reflect the external environment and the objects of the state, the most direct description of the objects of their work and where the external environment, and its operational tool operated by the object of the Relations, based on a variety of sensor information through the integration of information technology will be merged into a unified comprehensive information to accurately and comprehensively identify and describe the characteristics of objects in the environment for robot recognition, judgement, decision-making and planning, then at the top On the control and therefore more room for development of smart sensors Gripper become one of the key technologies of space robots for space robots smart-level summary to a large extent the level in advanced sensor technology, multi-sensor integration technology and multi-- III -sensor data fusion technology. Space Robot multi-sensor smart gripper of official efforts to solve the multi-sensor integration technology and its multi-sensor information processing technology. At the same time, the project's research office in tracking the world's advanced level, grasp the international space robot gripper as intelligent multi-sensor technology to shorten the gap with foreign advanced level in the context of, the results of speeding up the development of China's space robot Play a positive role in promoting China's space and the development of robot technology.Keywords Space Robot ；Sensors；Structural Design；three refers to gripper- 4 -目錄摘要 .IAbstractII第 1 章 緒論 11.1 課題研究的背景和意義 .11.2 國(guó)內(nèi)外研究現(xiàn)狀 .11.2.1 德國(guó) ROTEX 計(jì)劃中多傳感器智能手爪系統(tǒng)概況 .11.2.2 日本 ETS_VII 計(jì)劃中的多傳感器智能手爪系統(tǒng)概況 .21.2.3 哈爾濱工業(yè)大學(xué)多傳感器集成手爪系統(tǒng) 41.3 本文選題的意義及主要內(nèi)容 .51.3.1 選題的意義 51.3.2 本文的主要內(nèi)容 6第 2 章 多傳感器集成三指手爪的機(jī)械設(shè)計(jì) 72.1 三指手爪系統(tǒng)的組成 .72.2 三指手爪本體機(jī)械模塊組成 .72.3 手指部件的設(shè)計(jì) .82.3.1 設(shè)計(jì)原則 82.3.2 電機(jī)的選取 92.3.3 齒輪的設(shè)計(jì) 102.3.4 其他零件的設(shè)計(jì) 102.4 Pro/engineer 繪制手爪三維圖 .11第 3 章 三指手爪傳感器設(shè)計(jì) 143.1 多傳感器系統(tǒng)的配置 .143.2 三指手爪機(jī)器人多傳感器系統(tǒng)的配置 .153.3 三指手爪多傳感器系統(tǒng)的結(jié)構(gòu)設(shè)計(jì) .163.3.1 傳感器系統(tǒng)設(shè)計(jì)的必要性 163.3.2 六維剛性力/力矩傳感器的結(jié)構(gòu)設(shè)計(jì) .163.3.3 六維柔性腕力傳感器的結(jié)構(gòu)設(shè)計(jì) 183.3.4 陣列式觸覺(jué)傳感器的結(jié)構(gòu)設(shè)計(jì) 223.3.5 激光測(cè)距傳感器的結(jié)構(gòu)設(shè)計(jì) 243.3.6 小型 CCD 攝像機(jī) 27結(jié)論 28致謝 29參考文獻(xiàn) 30- 5 -附錄 A 31附錄 B 34