灵巧手操作的可视化仿真系统  

Visualized Simulation System of a Dexterous Mechanical Gripper

作　　者：谭青生[1] 袁政鹏[1] 范燮昌[1] 朱方文[1] 陈银山[1] 

机构地区：[1]上海大学机械电子工程与自动化学院,上海200072

出　　处：《上海大学学报（自然科学版）》2003年第1期38-42,共5页Journal of Shanghai University:Natural Science Edition

摘　　要：在将人手的抓取动作转化成灵巧手的抓取动作指令时,为快速验证手势识别和姿态转换模块的功能,同时避免由于指令的错误可能引起灵巧手的手指相互碰撞或对手指的驱动机构产生损害,特开发了灵巧手的三维仿真系统.采用3D图形软件包OpenInventor作为图形开发工具,实现了灵巧手的姿态模拟和碰撞检测功能.A visualized simulation system of dexterous mechanical gripper is developed to verify the function of a module for gesture recognition and conversion, and avoid collision between different fingers that may cause damage to the driving components. The system converts parameters of an operator's finger tips and joints into corresponding parameters of dexterous mechanical gripper. Using the 3D graphics software OpenInventor, the sysyem simulates the gesture of dexterous mechanical gripper and collision detection.

关 键 词：灵巧手 0penInventor开发包 姿态模拟 碰撞检测 机器人 可视化仿真系统 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]