多指灵巧手的运动学模型研究  

Study on kinematic model of multi-fingered dexterous Hand

作　　者：周荣荻[1] 王海[2] 夏小品[1] 周璇[1] 

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]安徽工程大学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：《安徽工程大学学报》2012年第4期25-28,共4页Journal of Anhui Polytechnic University

基　　金：国家自然科学基金资助项目(51175001);安徽高校省级自然科研基金资助项目(KJ2012A033);安徽工程大学科研启动基金资助项目(2006YQQ001)

摘　　要：要对灵巧手的各个关节进行实时控制,就必须要对各关节的位移、速度、加速度、力等情况进行研究.以自行设计的仿人多指灵巧手结构为基础,建立DH模型,对灵巧手的位姿和坐标变换进行分析,设置手指各关节的坐标系,确定各关节的齐次坐标变换矩阵,建立运动学方程.运用运动学的正解和逆解,分析、求解出相应的参数.为下一步研究动力学以及研究灵巧手的抓取规划和运动控制提供依据,从而灵巧手达到良好的动态性能和最优指标.Real-time control of the dexterous hand＇s each joint, needs considering displacement, velocity, acceleration,force etc. Based on the structure of anthropomorphic dexterous hand designed by the au- thor,DH model was established and pose and coordinate transformation were analyzed,and then the coordinate system of the finger joints was designed the homogeneous coordinate transformation matrices of joints are determined to build kinematics equations. Forward and inverse kinematics are employed to analyse and solve the corresponding parameters,which provide a basis for the next research of dynamics and dexterous hands grabbing plan and motion control, so as to attain good dynamic performance and optimal parameters.

关 键 词：多指灵巧手 DH模型 运动学正解 运动学逆解 

分 类 号：TH113.2[机械工程—机械设计及理论]