DEXTERITY ANALYSIS ON MANIPULATING VELOCITIES OF FINGER MECHANISMS
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摘要: 在简要介绍开端钢缆传动结构及其特征矩阵的基础上，将操作臂速度可操作性椭球的概念引入钢缆传动手指机构，给出了手指具有各向同性速度传递性质的条件．建立了开端钢缆传动中各缆速间的协调关系，并根据缆速空间与指端速度空间之间的映射关系，给出了建立手指指端操作速度矢量集合的方法．为评价指端实际的速度操作灵巧性，还提出新的度量指标，并结合算例介绍了对手指机构进行操作灵巧性分析的方法．Abstract: Based on a brief illustration of open end tendon transmission structures and their characteristic matrices, the concepts of velocity manipulability ellipsoids are introduced into tendon-driven finger mechanisms, and the condition for tendon-driven fingers to have isotropic velocity transformation characteristics is given. In terms of the mapping relationship between tendon velocity space and fingertip velocity space, and the kinematic coordinated equation established for the tendons of open-end transmission, the method to set up the velocity vector set of fingertip at any configuration of the finger is proposed. In order to evaluate the real velocity manipulating dexterity of the fingertip, a new quality measure is also presented, and examples are given to illustrate the analysis method of the manipulating dexterity of finger mechanisms.
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