李剑锋, 张玉茹, 张启先. 一类Power抓持接触力分解的一般表达式[J]. 机器人, 1999, 21(6): 407-414.
引用本文: 李剑锋, 张玉茹, 张启先. 一类Power抓持接触力分解的一般表达式[J]. 机器人, 1999, 21(6): 407-414.
LI Jian-feng, ZHANG Yu-ru, ZHANG Qi-xian. THE GENERAL FORMULA OF CONTACT FORCE DISTRIBUTION FOR A TYPE OF POWER GRASPS[J]. ROBOT, 1999, 21(6): 407-414.
Citation: LI Jian-feng, ZHANG Yu-ru, ZHANG Qi-xian. THE GENERAL FORMULA OF CONTACT FORCE DISTRIBUTION FOR A TYPE OF POWER GRASPS[J]. ROBOT, 1999, 21(6): 407-414.

一类Power抓持接触力分解的一般表达式

THE GENERAL FORMULA OF CONTACT FORCE DISTRIBUTION FOR A TYPE OF POWER GRASPS

  • 摘要: 与灵巧抓持相比,Power抓持可承受较大的外部载荷,能够更稳定地抓持物体.但由于抓持机构与物体间的约束较多,且接触点可出现在抓持机构中活动度有限的构件上,因此不能采用已有的适用于灵巧抓持的接触力分解方法对其接触力进行分解.本文在对一类Power抓持机构的结构特征进行分析的基础上,适当地建立了接触坐标系和物体坐标系.通过对接触力空间进行分解,给出了抓持接触力分解的一般表达式.并根据该表达式,建立了此类Power抓持的外部载荷与关节力矩及接触力之间的显函数关系.

     

    Abstract: Compared with dexterous grasps, power grasps can support larger external loads and grasp objects more steadily. Because there are more contact constraints between the object and the grasping mechanisms, and the contacts may occur on the parts with limited mobility of the grasping mechanisms, the proposed methods which are applicable to the contact force distribution for dexterous grasps can not be used to distribute the contact forces of power grasps. In this paper, based on the analysis of the structural characteristics of a type of power grasping mechanisms, the object and contact coordinates are suitably established. And then, the general formula of contact distribution for a type of power grasps is put forward through the decomposition of the contact force space. From the obtained formula, the function relation among the external loads, joint torques and contact forces is also set up.

     

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