柔性手抓持平面物体的最佳状态分析

OPTIMAL STATE FOR MULTIFINGER HAND TO GRASP PLANAR OBJECT

  • 摘要: 本文将柔性手抓持物体的细微平面运动力学模型简化成质量刚度系统,导出物体系统的广义平移刚度、广义扭转刚度、广义耦合刚度.引进抗扰动指标作为衡量系统承受扰动力和力矩的综合效应.分析了系统平衡状态的稳定性条件,并认为在满足静力平衡条件、状态选择条件和稳定性条件下.抗扰动指标取得最大值时为最佳抓持状态.采用非线性规划理论进行系统综合.最后以A3-A3-A3型柔性手抓持椭圆为例,进行数值求解.

     

    Abstract: In this paper, an idea of the following simplification is presented, i. e. a mechanical of a fine small planar mo-tion of object grasped by a multifinger hand can be simplified into a stiffnessmass system, where the translationalstiffness and the torsional stiffness and coupling stiffness are introduced. A disturbing index is introduced to meas-ure the total effect of the disturbing force and moment excrted on the system. After analyzing the stability condi-tions of the system equilibrium state, it is considered that for a system satisfying statics equilibrium conditions andstate selection conditions and stability conditions the optimal contact state is the one with maximum disturbing in-dex. The theory of non-linear programming is adopted to solve the optimal state of the system. Finally, a numeri-cal example is given for a hand of type A3-A3-A3 to grasp an ellipsoid.

     

/

返回文章
返回