基于抓取稳定性的手指接触力规划算法  

Optimization Algorithm for Contact Forces Based on Grasping Stability

作　　者：刘庆运[1] 岑豫皖[1] 谢能刚[1] 蒋波[1] 钱瑞明[2] 

机构地区：[1]安徽工业大学机械工程学院,马鞍山243002 [2]东南大学机械工程学院,南京210096

出　　处：《机械工程学报》2010年第7期57-62,共6页Journal of Mechanical Engineering

基　　金：安徽省自然科学基金(090412037);安徽省教育厅自然科学研究(KJ2009B034Z);安徽省高校青年教师科研(2008jq1033);安徽工业大学创新团队建设计划资助项目

摘　　要：在手指指端与物体构成有摩擦固定点接触模型的前提下,通过对三指灵巧手抓取内力与抓取稳定性关系的分析,构建指端接触力的规划算法。在接触点摩擦锥内将指端接触力分解为操作力和抓取内力,分析抓取内力对于接触稳定性的作用和内力汇交点与汇交多边形的相互位置,建立抓取内力与抓取稳定性之间的关系,通过合理规划内力汇交点的位置获得较高的抓取稳定性。通过使内力汇交点到汇交多边形各条边的最短距离达到最大,建立基于抓取稳定性的内力汇交点优化模型和指端接触力的规划算法。该算法将抓取布局规划和接触力分配融为一个统一的过程,可以有效提高抓取的规划效率,有利于抓取的在线规划。结合抓取实例说明了算法的有效性。Under the condition of fixed-point contact models with fi＇iction between the three fingertips and the object surface, a planning algorithm for grasping-force optimization of three-fingered robot hand is established. According to the decomposition of contact force in the friction cone, the effect of internal force on both contact stability and grasping stability is studied. Based on the analysis of the relative location relationships between the intersection point of internal forces and concurrent polygon, the optimization model for the best intersection point of internal forces is constructed. As a result, the grasping stability can reach maximum value when the intersection point of internal forces is the center of maximal incircle of the concurrent polygon. The algorithm integrates the planning of grasp configurations and the distribution of contact force into a unified process, thereby effectively improving the planning efficiency and facilitating online planning of grasping. An example is given to illustrate the validity of the algorithm.

关 键 词：三指手 内力汇交点 抓取稳定性 接触力优化 算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]