仿人四指灵巧手的抓持能力分析  

Analysis of grasping ability of four-fingered dexterous hand

作　　者：吴伟国[1] 赵洋[1] 

机构地区：[1]哈尔滨工业大学机电工程学院机械设计系,哈尔滨150001

出　　处：《机械设计与制造》2010年第4期188-190,共3页Machinery Design & Manufacture

基　　金：国家"863"高技术研究发展计划(2006AA04Z201)

摘　　要：对四指仿人灵巧手的结构及单手指运动学及动力学进行了分析,为深入地研究该灵巧手的控制提供了理论依据。在ADAMS中进行了灵巧手抓取物体仿真实验,实时得到手指与抓取物体间的接触力值。并利用有限元方法分析了灵巧手在强力抓取时的手指结构的力学性能,验证了该灵巧手可以达到实现设计目标所要求的抓取载荷。为抓取实验提供了抓取物体重量的理论分析依据。It analyzes the structure of the four-fingered dexterous hand and the kinematic and dynamic of single finger,providing theory basis for the future study of control system. Complete hand grasping simulation experiment in ADAMS,obtain the real-time contact force between fingers and the objects grasped. Uses the finite element method analyzes the mechanical properties of the finger structure during power grasp. Verifies the dexterous hand can realize design grasp loads goal. Provide the theoretical basis for the weight of the body grasped during grasping experiment.

关 键 词：四指灵巧手 抓持仿真 力学特性分析 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.62[自动化与计算机技术—检测技术与自动化装置]