类人型五指手构型的优化设计  

Optimized design for the five-finger hand configuration

作　　者：樊绍巍[1] 陈川[1] 姜力[1] 曾博[1] 刘宏[1] 邱景辉[2] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150001 [2]哈尔滨工业大学电子与信息工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2014年第5期602-606,共5页Journal of Harbin Engineering University

基　　金：国家973计划基金资助项目(2011CB013306);国家自然科学基金资助项目(51175106;61203346);黑龙江省博士后基金资助项目(LBH-Z11124)

摘　　要：针对人手抓握多点接触的特点,提出了一种基于形封闭理论的五指手构型优化设计方法。根据抓握动作要求确定出五指手构型优化设计所需要的参数,并通过J判别函数方法判别多参数输入下五指手球形抓取和圆柱形抓取的形封闭性。引入范数域宽作为参数优化性能指标,采用区间迭代算法实现在满足形封闭前提下的五指手构型的可行区间最大化。以球形抓取为例,优化出了拇指指骨长度等5个重要参数的最佳设计结果。抓取仿真试验结果表明,优化后的参数范数域宽至少提高17%,显著提升了五指手稳定抓取的能力。This paper presents an optimized design method for the five-finger hand configuration based on the form closure theory,considering the multi-point contact grasping characteristics of the human hand. Firstly,the necessa-ry parameters of the optimized design need to be confirmed according to the five-fingers grasping movement require-ments. And then a form-closure status is calculated with the J discriminant function for both the spherical grasp and the cylindrical grasp. Secondly,an interval iterative algorithm was used to achieve the feasible interval maximization of the parameters for the five-fingers on the premise of form closure,with the norm domain width being its parame-ters optimization performance indicator. Finally,the best design result of the most important 5 parameters of the five-finger hand was obtained from an example of the spherical grasp. Simulation results show that the performance indicator after optimization is 17% higher than the previous one,and the grasping stability of the five-finger hand is significantly improved.

关 键 词：球形抓取 圆柱形抓取 形封闭 可行区间最大化 范数域宽 稳定抓取 五指手构型 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]