基于固定接触约束的多指灵巧手动力学建模  

Multi-finger Dexterous Hand Dynamics Modeling Based on Fixed Contact Constraints

作　　者：余进 张红俊 Yu Jin;Zhang Hongjun(National Engineering Laboratory for Highway Maintenance Equipment,Chang’an University,Shaanxi Xi’an 710065;Chongqing Chang'an Industry(Group)Co.,Ltd.Chongqing 401120)

机构地区：[1]长安大学公路养护设备国家工程实验室,陕西西安710065 [2]重庆长安工业(集团)有限责任公司,重庆401120

出　　处：《南方农机》2022年第1期146-148,共3页

摘　　要：多指灵巧手通过与被操作对象间产生接触来完成操纵任务,两者间不同的接触方式会影响其对操纵任务的完成准确度,而动力学模型是进行动力学特性分析的基础,同时也是实现对机械系统高精度实时控制的基础。如何在系统运动方程中加入灵巧手与被操作物体间的接触约束成为灵巧手动力学建模过程中的难点。传统的动力学建模方法(如拉格朗日乘子法和Kane方法等)通常借助辅助变量来将约束引入系统模型之中,虽然能够得到正确的运动方程,但也使计算过程更为复杂。相较而言,作为拉格朗日力学的扩展研究而提出的Udwadia-Kalaba方法能够在不使用额外变量的同时保证模型的准确性。因此,本研究通过分析多指灵巧手和被操作对象间的接触约束,利用Udwadia-Kalaba方法建立多指灵巧手和被操作对象整体的动力学模型,为后续对灵巧手进行实时控制提供模型基础。Multi-finger dexterous hand through contact with the object to complete the manipulation task,the different contact between the two will affect its accuracy of the completion of the manipulation task,and dynamic model is the basis for dynamic characteristics analysis,but also to achieve high-precision real-time control of mechanical systems.How to add contact constraints between dexterous hands and operated objects in the system motion equation becomes a difficult point in the process of dexterous hand dynamics modeling.Traditional dynamic modeling methods,such as Lagrangian multiplier and Kane methods,often use auxiliary variables to introduce constraints into the system model,which,while obtaining correct equations of motion,also complicates the calculation process.In contrast,the Udwadia-Kalaba method,proposed as an extended study of Lagrangian mechanics,ensures the accuracy of the model without using additional variables.Therefore,by analyzing the contact constraints between the multi-finger dexterous hand and the manipulated object,the Udwadia-Kalaba method is used to establish the dynamic model of multi-finger dexterous hand and the whole of the manipulated object,which provides the model basis for the subsequent real-time control of the dexterous hand.

关 键 词：动力学建模 多指灵巧手 固定接触 Udwadia-Kalaba方程 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]