人手食指抓取过程仿真与分析  

Simulation and Analysis of Hand Index Finger Grasping Process

作　　者：马永达[1] 袁锐波[1] 刘泓滨[1] 丘世因[1] 

机构地区：[1]昆明理工大学机电工程学院,云南昆明650500

出　　处：《新技术新工艺》2015年第1期103-106,共4页New Technology & New Process

基　　金：国家级大学生创新创业训练计划资助项目(201310674001)

摘　　要：通过分析人手解剖学结构和手指关节的运动特性,对人手食指在抓取过程中的运动进行了研究。试验测量了食指指尖抓取轨迹,由测量出的轨迹来计算出食指各关节的运动函数,再利用各关节的运动函数来仿真指尖抓取轨迹,并将仿真轨迹与试验轨迹进行对比和分析。结果表明,通过计算的关节转角函数可以实现对指尖的轨迹控制,研究成果对仿人灵巧手的运动仿真和控制具有指导意义。Through analyzing the anatomical structure of human hand and the movement characteristic of finger joints, the movement of the index finger in grasping was studied. By measuring the fingertip＇s trajectory of the index finger in grasping, calculated the motion function of finger joints, and then simulated fingertip grasp trajectory by the joint movement functions, comparing and analyzed the simulation trace and the experimental trace. The results showed that through the cal culated joint angle functions can control the fingertip trajectory. The results of this research have the guiding significance to the simulation and control of dexterous hand.

关 键 词：食指关节 抓取轨迹 关节运动函数 轨迹仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]