| 崔磊,王德伦,戴建生.变胞多指灵巧手手掌尺度综合[J].,2009,(3):380-386 |
| 变胞多指灵巧手手掌尺度综合 |
| Dimensional synthesis of palm of multifingered metamorphic dexterous hand |
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| DOI：10.7511/dllgxb200903014 |
| 中文关键词: 多指灵巧手 变胞 手掌 抓持 |
| 英文关键词: multifingered dexterous hand metamorphic palm workspace |
| 基金项目:国家自然科学基金资助项目50475154. |
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| 中文摘要: |
| 分析新型的变胞多指灵巧手，设计一个能完成3种指尖抓持姿态的手掌．多指灵巧手变胞功能增强了机器手的灵巧度并增大了其工作空间，当手掌杆件静止时，每个手指都在一个平面内运动．由此提出手指操作平面的概念，从而将研究抓取姿态的问题转化为研究手指操作平面单位法向量的问题．建立球面变胞手掌的全局坐标系，得到3个手指平面的单位法向量在此全局坐标系下的表示，将抓取姿态映射成为姿态直纹面．分析3种常用指尖抓持姿态，得到实现抓持姿态时手掌需要满足的条件，并转化为非线性方程组的求解问题，得到满意的数值解．最后利用三维造型软件进行仿真，验证了计算的正确性． |
| 英文摘要: |
| A novel multifingered metamorphic hand is analyzed. This hand differs from the previous robotic hands in that the palm is moveable. The reconfiguration of the palm enhances the dexterities and the workspace of the hand. When the linkages of the palm stand still, each finger operates in a plane. Hence the finger-operation plane is introduced so that the orientation analysis of the hand can be explored by investigating the motion of the unit vectors of the three finger-operation planes. The three unit vectors can be obtained by coordinate transformation in a global coordinate system and are mapped to orientation ruled surfaces. Next, three common poses of grasping with finger-tips are analyzed and the conditions for the palm to realize these three poses are obtained. The design of the palm is converted into that of solving a nonlinear equation system with 11 equations and 12 variables. The satisfactory numerical solution of the nonlinear equation system is obtained. Finally three-dimensional simulations of the multifingered hand based on the above numerical solution are made to verify the correctness of the computation. |
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