基于方向可操作度的机器人灵巧手抓持优化研究  

Research on grasping optimization of dexterous robot hand based on directional manipulability

作　　者：裴九芳[1,2] 陈玉[1,2] 许德章[1,2] 

机构地区：[1]安徽工程大学机械与汽车工程学院,安徽芜湖241000 [2]先进数控和伺服驱动技术安徽省重点实验室,安徽芜湖241000

出　　处：《机械设计》2012年第4期12-16,51,共6页Journal of Machine Design

基　　金：安徽省自然科学基金资助项目(11040606M144);安徽高等学校省级自然科学研究资助项目(KJ2009B009)

摘　　要：以三指灵巧手的速度可操作性椭球和力可操作性椭球研究为基础,定义了机构的速度方向可操作度和力方向可操作度。在给定灵巧手操作位姿的条件下,以方向可操作度为目标函数,给出了灵巧手最佳传速方向和传力方向的优化方法。最后,以三指灵巧手为算例进行演示,得出了灵巧手在给定位姿下的最佳传速方向和传力方向,为灵巧手的抓持规划提供了值得借鉴的方法。On the basis of velocity manipulability ellipsoid and force manipulability ellipsoid of three-finger dexterous hand,the paper defined the velocity directional manipulability and force direc-tional manipulability of the mechanism.Under the condition that the operational position and orientation is given,by taking direc-tional manipulability as the objective function,the optimization method of optimal velocity transmission direction and force transmis-sion direction of dexterous hand was presented in this paper.Final-ly,by taking three-finger dexterous hand as an example to carry out illustration,the optimal velocity transmission direction and force transmission direction were obtained under given position and orien-tation,providing valuable reference for grasping planning of three-finger dexterous hand.

关 键 词：机器人灵巧手 可操作性椭球 方向可操作度 优化方法 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]