自重影响下对称结构三指灵巧手的抓持规划与分析  

Grasp Planning and Analysis for Three-fingered Dexterous Hand with Symmetrical Configuration Considering Self Weight Influence

作　　者：张延恒[1] 贠超[1] 孙汉旭[2] 贾庆轩[2] 

机构地区：[1]北京航空航天大学机器人研究所,北京100083 [2]北京邮电大学自动化学院,北京100876

出　　处：《机器人》2007年第4期374-377,383,共5页Robot

摘　　要：将驱动电机置入灵巧手指内部,使得灵巧手指自重对操作性能的影响增大.文中对所设计的对称结构三指灵巧手进行了受力分析,并在此基础上建立了手指自重对灵巧手指关节力矩影响的优化目标函数,以寻求不同手掌方位角下关节的最优抓持位形.通过对不同手掌方位角下关节力矩的优化分析,确定了手掌方位角与手指最佳位形之间的映射关系.将优化结果应用于实际机器人系统,其运行结果表明了该分析方法的有效性.Placing driving motors in the dexterous robotic fingers will enable the fingers＇ self weight to have a greater influence on its operation capability. This paper deals with the problem of joint force analysis of three-fingered dexterous hand with symmetrical configuration. The objective function that represents the influence of fingers＇ self weight on joint torque is defined to obtain the best grasp configurations in various palm configurations. Through the optimization analysis of the joint torque in various palm configurations, the mapping between palm configuration and fingers＇ best configuration is developed. The optimization results are applied to a real robot system, and the operation results illustrate the validity of the method.

关 键 词：自重 灵巧手 关节力矩 抓持规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]