于建国, 马香峰. 灵巧手运动学分析[J]. 机器人, 1993, 15(6): 35-39.
引用本文: 于建国, 马香峰. 灵巧手运动学分析[J]. 机器人, 1993, 15(6): 35-39.
YU Jianguo, MA Xiangfeng. STUDY OF KINEMATICS FOR DEXTROUS ROBOT HANDS[J]. ROBOT, 1993, 15(6): 35-39.
Citation: YU Jianguo, MA Xiangfeng. STUDY OF KINEMATICS FOR DEXTROUS ROBOT HANDS[J]. ROBOT, 1993, 15(6): 35-39.

灵巧手运动学分析

STUDY OF KINEMATICS FOR DEXTROUS ROBOT HANDS

  • 摘要: 本文研究了灵巧手操作物体的运动学问题,在分析手指与物体接触条件的基础上,建立了手指与物体之间单点接触作纯滚动和作可控制滑动的运动学方程,给出了3R,4R和5R手指的运动约束条件,并对5-4-5型灵巧手进行了速度仿真和图形仿真.

     

    Abstract: This paper discusses the kinematics of dextrous robot hands manipulating an object with rolling and con-trolled sliding on one point contact with finger.The contact constraints of fingers and object are analyzed andthe relationships on position.velocity and acceleration between finger-joint motion and object motion and ob-ject motion are formulated.The motion constraints of 3R,4R and 5R fingers are presented.The theory hasbeen validated by velocity simulation and graphical simulations for a 5-4-5 hand.

     

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