带传动式仿人机械手抓取规划及稳定性分析  

Grab Planning and Stability Analysis of Humanoid Manipulator

作　　者：杨智勇 谢迪[1,2] 王君 周红军[1,2] YANG Zhi-yong;XIE Di;WANG Jun;ZHOU Hong-jun(School of Mechanical Engineering,Hubei University of Technology,Wuhan 430068,China;Key Lab of Modern Manufacture Quality Engineering,Hubei University of Technology,Wuhan 430068,China)

机构地区：[1]湖北工业大学机械工程学院,武汉430068 [2]湖北工业大学现代制造质量工程湖北省重点实验室,武汉430068

出　　处：《组合机床与自动化加工技术》2021年第2期57-61,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家自然科学基金项目(51907055);湖北省教育厅中青年人才项目(Q20191404)。

摘　　要：为提高仿人机械手抓取稳定性,根据目标物体的结构形状、尺寸大小及机械手位置姿态,合理规划仿人机械手与抓取目标间的抓取方式及接触点分布;通过分析手指与目标物体间接触类型的抓取状态力学模型,引入机械手抓取稳定性指标参数,建立机械手抓取数学模型,确定机械手抓取稳定性与抓取平面位置、手指与目标抓取物体接触点分布间的映射关系;通过仿真实验验证了:仿人机械手的抓取稳定性与机械手抓取平面离目标物体质心的距离有关,抓取平面越靠近目标物体质心,抓取稳定性越强,并在抓取平面与目标物体质心重合时达到最大,仿人机械手的抓取稳定性与抓取平面上手指和目标物体的接触点位置分布无关;该结论为后续仿人机械手的抓取控制规划提供了理论依据。In order to improve the grasping stability of the humanoid manipulator,according to the structure shape,size and position and posture of the target object,rationally plan the grasping method and contact point distribution between the humanoid manipulator and the grasping target;by analyzing between the finger and the target object The mechanical model of the gripping state of the contact type,introducing the index parameters of the robotic grip stability,establishing the mathematical model of the robotic grip,and determining the mapping relationship between the gripping stability of the robot and the location of the gripping plane,and the distribution of the contact points between the fingers and the target gripping object.The simulation experiment verified that the grip stability of the humanoid manipulator is related to the distance between the gripping plane of the manipulator and the center of mass of the target object,and has nothing to do with the distribution of contact points on the gripping plane;this conclusion is the subsequent gripping of the humanoid manipulator control planning provides a theoretical basis.

关 键 词：仿人机械手 抓取稳定性 抓取平面 接触点规划 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]