关节独立五指灵巧手指的耦合运动规划  

Motion Planning of the Fingers of a Five-fingered Dexterous Hand with Independent Joints

作　　者：邢仁涛[1] 孙志峻[1] 赵淳生[1] 黄卫清[1] 

机构地区：[1]南京航空航天大学,南京210016

出　　处：《机械科学与技术》2008年第3期370-373,378,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(50675098)资助

摘　　要：利用超声电机低速和大转矩的特性设计了由其驱动的五指灵巧手,传动方式采用的是腱传动方式,每个手指均有4个自由度和4个关节,即其手指具有相互独立的关节,从而可以使手指末端两个关节的运动完全依照人手的二次运动方程耦合关系进行运动规划。然而这种关节运动耦合关系会导致在求运动学反解时某些关节角得不到解析解,于是采用数值迭代法,获得了相应的数值解;进而获得了灵巧手的单指运动空间,并通过ADAMS仿真验证了算法的正确性。Making use of the low speed and large torque of ultrasonic motors, we designed a five-fingered dexterous hand driven by ultrasonic motors. The joints of the hand are independent, so the motion planning of the two terminal joints of a single finger can be carried out according to the motion relationship of quadratic equation which is the same as human fingers. With the motion-coupled relationship, when the end position of the finger is given, some of the joint angles have no analytical solutions in inverse kinematics. Thus, a recursive approach is applied to achieving numerical solutions, and the working space of a single finger of the hand can be determined. Finally, ADAMS, a simulation software,is used to validate the correctness of the approach.

关 键 词：灵巧手 运动学反解 运动规划 仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]