Grasp Planning and Analysis for Three-fingered Dexterous Hand with Symmetrical Configuration Considering Self Weight Influence
ZHANG Yan-heng1, YUN Chao1, SUN Han-xu2, JIA Qing-xuan2
1. Robotics Institute, Beihang University, Beijing 100083, China; 2. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
Abstract:Placing driving motors in the dexterous robotic fingers will enable the fingers’ self weight to have a greater influence on its operation capability.This paper deals with the problem of joint force analysis of three-fingered dexterous hand with symmetrical configuration.The objective function that represents the influence of fingers’ self weight on joint torque is defined to obtain the best grasp configurations in various palm configurations.Through the optimization analysis of the joint torque in various palm configurations,the mapping between palm configuration and fingers’ best configuration is developed.The optimization results are applied to a real robot system,and the operation results illustrate the validity of the method.
[1] Jacobsen S C,Wood J E,Knutti D F,et al.The Utah/MIT dexterous hand work in progress[J].The International Journal of Robotics Research,1984,3(4):21 -50.
[2] Butterfass J,Hirzinger G,Knoch S,et al.DLR multisensory articulated hand,Part I:hard-and -software architecture[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1998.2081-2086.
[3] 杨磊,高晓辉,何平,等.HIT机器人灵巧手基关节位置/力矩控制[J].电机与控制学报,2005,9(3):275-279.
[4] 李继婷,张玉茹,郭卫东.机器人多指手灵巧手抓持规划[J].机器人,2003,25(5):409-413.
[5] Kircanski M V.Robotic isotropy and optimal robot design of planar manipulators[J].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1994.1100-1105.
[6] Bicchi A,Melchiorri C,Balluchi D.On the mobility and manipulability of general multiple limb robots[J].IEEE Transactions on Robotics and Automation,1995,11 (2):215 -228.
[7] 李剑锋,张玉茹,张启先.手指机构力操作灵巧性的分析与评价[J].机器人,2000,22(2):115-121.
[8] Ou Y-J,Tsai L-W.Kinematics synthesis of tendon-driven manipulators with isotropic transmission characteristics[J].Journal of Mechanical Design,Transactions of the ASME,1993,115 (4):884 -891.