一种仿人形五指灵巧手的运动学封闭解与仿真研究  

The closed-form kinematic solution and simulation analysis of a humanoid five-fingered dexterous hand

作　　者：赵树伟 贾楠[1] 王亚鹏 ZHAO Shuwei;JIA Nan;WANG Yapeng

机构地区：[1]长安大学公路养护装备国家工程研究中心,陕西西安710065

出　　处：《现代机械》2023年第6期1-7,共7页Modern Machinery

基　　金：陕西省重点研发计划项目(2021ZDLGY09-02);陕西省自然科学基础研究计划面上项目(2020JM-240);中央高校基本科研业务费资助项目(300102251202,300102258305)。

摘　　要：针对一种复杂结构的仿人灵巧手,利用几何分析方法建立了灵巧手的运动学解析模型,并借助数值仿真软件对建立的模型进行了分析与验证。该灵巧手具有五个独立活动的手指,每根手指的指关节通过连杆机构耦合,由直线伺服电机驱动完成手指的运动。论文通过分析手指驱动机构的几何关系对指间关节解耦,求解灵巧手的正逆运动学封闭解;基于Adams仿真软件,建立灵巧手的运动学仿真模型,仿真结果表明,求解的灵巧手运动学解析模型正确、有效,并在此基础上分析了五指灵巧手的工作空间。This paper uses geometric analysis method to construct an analytical kinematic model of a complex structured humanoid dexterous hand.The constructed model is analyzed and verified by the numerical simulation software.The dexterous hand has five independently movable fingers,whose joints are coupled by a connecting rod mechanism.The bending/expansion action of each finger is driven by a linear servo motor.This paper decouples the interphalangeal joints of each finger by analyzing the driven mechanism′s geometric constraints.The forward and inverse closed-form kinematic solution of the dexterous hand are obtained.Based on Adams simulation software,the numerical kinematic model of the dexterous hand is established,and the simulation result shows that the analytical kinematic model of the dexterous hand is both correct and effective.Further,the workspace of the dexterous hand is obtained based on the numerical kinematic model.

关 键 词：五指灵巧手 运动学封闭解 工作空间 数值仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]