三指灵巧手运动学分析及抓持仿真  

Kinematics Analysis and Grasping Simulation of Three-fingered Dexterous Hand

作　　者：冀鹏飞[1] 刘宇红[1] 孙晨光[1] 

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《机械工程师》2017年第2期66-68,共3页Mechanical Engineer

摘　　要：参考人手的结构特征,设计了一种三指灵巧手,手指采用模块化设计,各手指结构相同。手指各主动关节均由直流伺服电机驱动,通过锥齿轮和钢丝绳传动机构传动,直流伺服电机和传动机构均配置在手指内部。采用D-H法建立手指坐标系,推导出运动学正、逆解,为灵巧手控制和抓取规划的研究奠定基础。运用仿真软件A D A M S对灵巧手抓持球体过程进行仿真分析,结果表明三指灵巧手在其工作空间内能够实现对物体的精确抓取。By imitating the structural characteristics of human hand, a three-fingered dexterous hand is designed. The finger is designed with a modular design, and the structure of each finger is the same. Each active joint of the finger is driven by a DC servo motor, and the finger through the bevel gear and the wire rope transmission mechanism to transmit power, the DC servo motor and the transmission mechanism are arranged in the finger interior. The D-H method is used to establish the coordinate system of the finger, and the forward and inverse solutions are deduced, which lays the foundation for the research of the control and grasp planning. By using ADAMS to simulate the process of grasping objects, the results show that the three-fingered dexterous hand can complete the precision grasping of objects in the work space.

关 键 词：灵巧手 运动学 仿真分析 精确抓取 

分 类 号：TH241[机械工程—机械制造及自动化]