人工肌肉驱动的多指灵巧手运动学计算与分析  

Kinematics Calculation and Analysis of Multi-Fingered Dexterous Hand driven by Artificial Muscles

作　　者：朱玉乐[1] 郭冰菁[1] 

机构地区：[1]河南科技大学,河南洛阳471003

出　　处：《机械设计与制造》2013年第11期224-227,共4页Machinery Design & Manufacture

基　　金：河南省教育厅自然科学研究计划项目(2010B460006)

摘　　要：目前对灵巧手的运动学分析对象多为单指结构,很少涉及多指协调的运动学分析,为了更好地完成HUST灵巧手的抓取规划,主要针对多指灵巧手的运动学问题以及各手指的操作可达性进行分析计算与验证。根据气动人工肌肉驱动的HUST灵巧手的结构特点,采用标准D-H参数法建立各手指指尖相对于手掌坐标系的运动方程,分析求解多指气动灵巧手的正逆运动学问题,基于Matlab对灵巧手的工作空间进行仿真分析,得出了各手指在手掌坐标系下的操作可达空间,并通过抓取实例验证了运动学与仿真分析的正确性,为多指灵巧手的抓取规划提供了重要依据。The kinematics analysis of the dexterous hand object is single structure,more rarely involving multi-fingered coordination kinematics analysis,and in order to better complete the HUST dexterous hand grasping planning,it mainly aims at multi-finger dexterous hand kinematics problem as well as each finger operation accessibility analysis calculation and verification.According to structural features of HUST dexterous hand driven by artificial muscles,motion equations of each finger relative to palm coordinate system are established using standard D-H parameter method,and the forward and inverse kinematics of multi-fingered pneumatic dexterous hand are analyzed and solvea.Workspace of dexterous hand is studied in MATLAB,and the operational space of each finger in the palm coordinate system can be obtained.Correctness of the analysis is verified by giving an application example.It lays the foundation for grasp planning of multi-fingered dexterous hana.

关 键 词：多指灵巧手 运动学 MATLAB 工作空间 操作可达性 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]