变姿态下多指手抓取爆炸物的能力分析  

Analysis of Grasping Ability of Multifingered Robotic Hand Under Changing Postures

作　　者：莫海军[1] 黄平[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《华南理工大学学报（自然科学版）》2008年第8期104-109,共6页Journal of South China University of Technology(Natural Science Edition)

基　　金：广东省科技攻关项目(2004A10403006)

摘　　要：将多指手代替单自由度的夹持器应用于排爆机器人中,以提高机器人处理爆炸物的能力.由于机器人姿态的变化将影响多指手的抓取能力,文中对影响多指手抓取爆炸物能力的手指抓取姿态及机器人姿态进行了研究,寻求最有利的抓取模式.同时,运用螺旋理论和BP神经网络寻求多指手最优的抓取姿态(即最优关节角)及不同机器人姿态下多指手抓取爆炸物的最大重量,并给出了最优的抓取位姿.考虑到爆炸物容易爆炸的特点,文中还研究了多指手在有限接触力作用下的抓取能力.In order to enhance the disposal ability of the used to replace the traditional gripper with single degree explosive disposal robot, a multifingered robotic hand is of freedom. As the grasping ability is greatly affected by the postures of the robot, the influences of the finger posture and the robot posture on the grasping ability of the multifingered robotic hand are discussed to seek the most favourable grasping mode. Moreover, the most favourable grasping posture of the robotic hand, namely the optimal joint angle, and the maximum grasping mass under different robot postures are investigated based on the screw theory and the BP neural network. Finally, the grasping ability of the muhifingered robotic hand under the constraint of grasp force is discussed to prevent explosives from exploding during the operation.

关 键 词：排爆机器人 爆炸物 多指手 抓取能力 姿态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]