三指手抓取力封闭性的简单判别算法  

On Force-closure Grasping of Three-fingered Robot Hand

作　　者：刘庆运[1] 蒋波[1] 豆勤勤[1] 

机构地区：[1]安徽工业大学机械工程学院,马鞍山243002

出　　处：《机械科学与技术》2010年第4期498-503,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：安徽省自然科学基金项目(090412037);安徽省高等学校青年教师科研项目(2008jq1033);安徽省教育厅自然科学研究项目(KJ2009B034Z);安徽工业大学青年科研基金项目(QZ200813)资助

摘　　要：根据力封闭抓取的定义建立了利用严格内力的存在条件进行三指灵巧手力封闭抓取判别的研究方法,构建了三指灵巧手力封闭抓取的等价判别算法。在手指指端与物体构成有摩擦的固定点接触模型的前提下,三指灵巧手力封闭抓取条件等价于抓取矩阵满秩并存在严格内力。首先,基于对物体表面接触位置的几何特性分析,建立了摩擦扇存在条件,每个指端接触点的内法矢与接触平面所成夹角小于接触点摩擦圆锥角;其次,通过研究接触点摩擦扇边界线及其交点的相互位置关系,推导了内力汇交多边形的存在条件,任意两个摩擦扇的边界线交点中,至少有一个位于第3个摩擦扇的严格内部,或者至少有3个边界线交点位于第3个摩擦扇边界线上;最后,在考虑内力平衡关系的基础上,建立了基于矢量计算的三指灵巧手力封闭抓取的快速判别算法。Based on the existence of rigorous internal forces,equivalent conditions of three-fingered robot hand force-closure grasping are obtained.On the premise of fixed-point contacts with friction between the three fingertips and the object,the conditions of three-fingered robot hand force-closure grasping are equivalent to the grasp matrix with full rank and the existence of rigorous internal forces.Based on the analysis of the geometrical characteristics of contact positions on the object surface,the existence condition of the frictional sectors is established.The angle between inner normal vector and relative inner normal vector of each contact point should be smaller than friction cone angle.By means of studying the relative location relationships between the frictional sector borderlines and their intersections,the existence condition of the concurrent polygon of three internal forces is presented.Taking the equilibrium relation of internal forces into consideration,a general algorithm using vector calculation for force-closure grasping of three-fingered robot hand is presented.An example is given to illustrate the validity of the algorithm.

关 键 词：三指手 力封闭抓取 严格内力 汇交多边形 平衡条件 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]