灵巧手最小抓取作用力规划  

The Minimum Grip Force Planning of the Dexterous Hands

作　　者：韩伟 陈恩茂[1,2,3] 徐志刚 吴浩廷[1,2,3] 尹猛 HAN Wei;CHEN En-mao;XU Zhi-gang;WU Hao-ting;YIN Meng(College of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;不详)

机构地区：[1]东北大学机械工程与自动化学院,沈阳110819 [2]中国科学院沈阳自动化研究所,沈阳110016 [3]中国科学院机器人与智能制造研究院,沈阳110016 [4]中国科学院大学,北京100049

出　　处：《组合机床与自动化加工技术》2020年第6期80-83,87,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：为了在不增加能量与机械损耗下,提高灵巧手抓取物体的成功率,则必须对灵巧手在抓取物体上的作用点位置进行布局。因此,提出了一种基于最小抓取力的规划算法,以力封闭为约束条件,接触力法向合力为目标函数,采用差分进化算法计算,最后求得抓取最优点以及最小作用力,并利用最小奇异值指标来评价抓取性能。仿真结果验证了该算法应用于灵巧手的可行性,对于多指灵巧手的抓取具有参考意义。In order to increase the success rate of a dexterous hand grabbing objects without increasing energy and mechanical losses,the position of the point of action of the dexterous hand on the grabbing object must be laid out.Therefore,a planning algorithm based on minimum grabbing force is proposed.The force closure is the constraint condition,the contact force normal force is the objective function,and the differential evolution algorithm is used to calculate the absolute advantage and the minimum force.The smallest singular value indicator is used to evaluate the crawl performance.The simulation results verify the feasibility of the algorithm applied to dexterous hands,and have reference significance for the grasping of multi-finger dexterous hands.

关 键 词：灵巧手 最小抓取力 抓取规划 差分进化 

分 类 号：TH16[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]