一种仿生手指机构的优化计算  

The Optimum Calculation of Mechanics of Abionics Fingers

作　　者：秦松喜[1] 

机构地区：[1]喀什师范学院教务处,新疆喀什844000

出　　处：《江苏理工大学学报（自然科学版）》2001年第2期29-33,共5页Journal of Jiangsu University of Science and Technology(Natural Science)

摘　　要：以再现手指握拳动作姿态和运动轨迹为主要目标，探讨一种带关节仿生手指的优化计算．文中重点讨论了运动矩阵的建立，仿生手指的结构模拟与教学描述，给出了预期目标的采样式，总优化目标Ｆ（ｘ）与约束函数ｇ１（ｘ）～ｇ４２（ｘ）．求出数学模型的逼近解，其与预期目标曲线的逼近度高达 ９５％以上，优化计算获得了较好的仿生效果．This paper Didcusses the optimum calculation of mechanics of a bionics fingers with joints in order to reproduce the action of clenching and its locus. It also emphatically discusses the establishment of movement matrices, the constructional imitation and mathematical descriptions of bionics fingers. And sampling formulas of the expected aim, whole optimum aim F(x ) and restrained functions are given. Also the approach answer of the mathematical model is worked out. The numbers of the approachable are more than 95%,compared with the curve of the expected aim. The optimum calculation is satisfactory.

关 键 词：优化目标 数学模型 约束函数 仿生手指机构 工业机器人 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置] TP242.2[自动化与计算机技术—控制科学与工程]