基于旋量理论的三指灵巧手工作空间研究  

The Analysis of Workspace for the Three-finger Dexterity Robot Hand Based on Screw Theory

作　　者：裴九芳 许德章 王海 PEI Jiufang;XU Dezhang;WANG Hai(School of Mechanical and Automotive Engineering,Anhui Polytechnic University,Wuhu 241000,China)

机构地区：[1]安徽工程大学机械与汽车工程学院,安徽芜湖241000

出　　处：《安徽工程大学学报》2020年第4期33-41,共9页Journal of Anhui Polytechnic University

摘　　要：针对传统D-H(denalit-hartenber)参数法对机器人灵巧手运动学建模存在的复杂性及几何意义不明显等问题,基于旋量理论对Shadow三指灵巧手的各手指进行了正运动学分析;然后对各手指的工作空间和合成工作空间进行了研究,确定了手指指尖的运动范围,从而确定了抓取目标的范围;最后分析了抓取空间点的分布概率,以便对抓取目标进行筛选,对抓取效果进行预判,为机器人灵巧手的后续抓取规划和操作提供理论基础。The traditional D-H(denalit-hartenber)method is popular for establishing kinematic model for robot,but it has many disadvantages,such as complexity,no explicit geometric meaning,etc.Based on the screw theory,this paper derived forward kinematics of three-finger shadow dexterous hand,deduced the work space of each finger and the synthesis work space of three fingers,so as to determine the range of grasping.The distribution probability of work space points were analyzed finally for choosing the grasped object size,prejudging the grasping effect.It will provide a theoretical foundation for the subsequent operation and grasp planning of dexterous robot hand.

关 键 词：旋量理论 三指灵巧手 正运动学 工作空间 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]