机器人多指手抓取运动学研究综述  

A Survey of Grasping Kinematics by Multifingered Robot Hands

作　　者：刘庆运[1] 钱瑞明[1] 颜景平[1] 

机构地区：[1]东南大学机械工程系,南京210018

出　　处：《机械科学与技术》2006年第8期967-971,共5页Mechanical Science and Technology for Aerospace Engineering

摘　　要：对国内外在机器人多指手抓取运动分析研究领域取得的进展及研究现状进行了综述。介绍了常用的抓取模型,分析了接触构形的力封闭与形封闭性及判别条件和抓取质量主要评价指标,归纳了抓取规划和接触力求解的典型方法。指出了多指手抓取运动学方面有待进一步研究的问题。The kinematic analysis of grasping by muhifingered robot hands is surveyed. The grasping models in common use are introduced. The force-closure, form-closure and some indexes for evaluating grasping quality are analyzed. Several typical methods for grasping planning and contact force solutions are induced. Issues for further research in this area are pointed out.

关 键 词：机器人 多指手 抓取 力封闭 形封闭 接触力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]