共查询到19条相似文献,搜索用时 187 毫秒
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三指机器人手的运动学研究 总被引:2,自引:0,他引:2
本文研究了指端与物体间为纯滚动接触时三指9关节机器人手操作物体的运动学问题,建立了手指关节运动与物体运动之间的位置关系、速度关系和加速度关系,给出了9个节间的运动约束条件。 相似文献
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气动肌肉驱动的柔顺机器人操作手的设计和实现 总被引:5,自引:0,他引:5
以气动肌肉为主要驱动器,设计了一个柔顺机器人操作手,在腕部和手部两个不同的关节,使用了两种不同型号的气动肌肉,分别采取了两种不同的传动方式.给出了腕部俯仰关节的位置控制策略.建立了手指的静力学模型,以此为基础,分析了气动肌肉的输入压力与指端夹持力的关系.实验结果表明,该机器人操作手可实现对物体安全、柔顺的抓取操作. 相似文献
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机器人多指手灵巧抓持规划 总被引:8,自引:1,他引:8
抓持规划是机器人灵巧手要完成预期任务所面临的一个重要问题.本文采用主从操作方式进行灵巧手的指尖抓持规划,由人手决定抓持接触点的位置, 灵巧手通过调整其手掌的位置和姿态保证各手指在人手指定的位置上抓持物体.根据灵巧手的操作特点,提出以关节灵活度来描述关节运动各向同性的能力,并据此定义灵巧手操作灵活度,作为灵巧手抓持位形性能的评价指标.以最大操作灵活度作为优化目标函数,寻求最优的抓持性能.同时,借鉴人手的抓持经验,通过主从操作方式,建立从人手到灵巧手的运动映射关系,从而为手掌位置优化问题提供合理的初值.仿真实验结果说明了文中方法的有效性. 相似文献
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针对多指灵巧手钢缆传动系统的非线性,提出一种基于分散神经网络的位置控制方法.通过
对复杂的钢缆传动系统施加不同的输入可以得到特定的相对简单的输入输出数据,利用这种
特定的输入输出数据学习传动系统的非线性关系得到多个分散的神经网络,再根据传动系统
的结构特性用分散的神经网络求取钢缆传动系统的逆模型,用于直接逆控制,从而达到补偿
非线性误差的目的.同时应用在线神经网络的适时补偿使系统长时间保持良好的运行状态.
实验证明这种方法可大大提高位置跟踪精度,取得比较满意的结果. 相似文献
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In this paper, a systematic methodology for the dynamic analysis of tendon‐driven robotic mechanisms is presented. The approach utilizes the recursive Newton‐Euler equations to compute the kinematic and dynamic equations of all links that locate on the transmission line of a tendon‐driven robotic mechanism. The inertias of the intermediate links in the mechanism are taken into account. It is shown that the dynamic equations can be established in a recursive manner from the end‐effector links toward the proximal links and can be solved at the proximal end without the need of solving the simultaneous system equations. The joint reaction forces and the tension in each segment of tendon can be also obtained. The methodology can be applied to both endless and open‐ended tendon drives. © 2003 Wiley Periodicals, Inc. 相似文献
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为了使机械手灵巧、稳妥地抓取物体,设计了一种新型结构的单电机驱动4 指12 关节机械手爪.该手
爪由电机驱动一根十字连杆,其端部分别连接4 个手指的第1 动力连杆;每个手指有3 个指节,由2 个平行四边形
的指节结构确保手指末端做平移运动;每个手指的第2 动力连杆具有延伸滑槽,当第2 动力连杆运动时,经过特别
设计的滑槽在固定支点滑动,可使手指末端匀速运动.该新型的单电机驱动手爪设计方案实现了机械手控制简单、
抓握可靠的目的. 相似文献
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一种大屏幕人机交互系统的实现方法 总被引:2,自引:0,他引:2
针对利用双目立体视觉技术实现大屏幕人机交互系统时摄像头标定复杂的问题, 提出一种大屏幕人机交互系统的实现方法。由两个摄像头负责采集用户手部的图像,获取指尖的二维图像位置坐标,通过透视投影模型,由测量所得的两个摄像头之间的距离、大屏幕左边与摄像头之间的距离、摄像头离地面的高度、大屏幕底边离地面的高度等数据,求出地面上与指尖成像在同一位置的地面坐标,由摄像头的位置及地面坐标求出一条直线,两条直线相交获取指尖空间坐标,由指尖空间坐标选取与屏幕对应的二维平面坐标,经物理坐标到逻辑坐标转换求出手指指向屏幕的实际坐标,实现大屏幕的定位。定位完成后,采用指尖检测方法检测视频图像中指尖是否存在,以此判断食指弯曲和伸开的点击操作。指尖空间坐标的计算方法虽然存在误差,但由于用户在操作过程中能够实时看到鼠标的位置,因此该误差对用户是透明的,而这种方法以简单的、近似的求解避免了复杂的摄像头标定过程,便于系统工程的实施。 相似文献
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In this paper, a method is presented for the synthesis of 3‐R RR planar parallel mechanisms. The method uses a genetic algorithm while considering three different design criteria: the optimization of the mechanism workspace to approach a prescribed workspace, the maximization of the mechanism's dexterity, and the avoidance of singularities inside the mechanism workspace. It is shown that, for a given mechanism, some working modes do not have any corresponding singularity curves located inside the mechanism workspace. Furthermore, a case is presented where, for a given orientation range of the mechanism's end‐effector, there are no parallel singularities located inside the workspace. Finally, two methods are described and compared to deal with the nonuniform units of the mechanism's Jacobian matrix during the dexterity computation. © 2004 Wiley Periodicals, Inc. 相似文献
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Londi Fabio Pennestrì Ettore Valentini Pier Paolo Vita Leonardo 《Multibody System Dynamics》2004,12(2):133-145
In this paper the authors present a control strategy for tendon driven mechanisms. The aim of the control system is to find the correct torques which the motors have to exert to make the end effector describe a specific trajectory. In robotic assemblies this problem is often solved with closed loop algorithm, but here a simpler method, based on a open loop strategy, is developed. The difficulties in the actuation are in keeping the belt tight during all working conditions. So an innovative solution of this problem is presented here. This methodology can be easily applied in real time monitoring or very fast operations. For this reason several virtual reality simulations, developed using codes written in Virtual Reality Markup Language, are also presented. This approach is very efficient because it requires a very low cpu computation time, small size files, and the manipulator can be easily put into different simulated scenarios. 相似文献
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《Advanced Robotics》2013,27(8):897-911
This paper presents a 2-d.o.f. finger using ultrasonic motors and load-sensitive continuously variable transmissions (CVTs) we proposed previously, which consist of a five-bar linkage and a torsion coil spring. The proposed CVT is remarkably simple and enables a finger joint to exert a large fingertip force and to move quickly. For the two joints of the 2-d.o.f. finger, we designed five-bar linkage CVTs which are more compact than the previous ones so that they can be installed on its base. Taking advantage of the geometric feature that ultrasonic motors are thin, we can arrange the drive systems for the two joints, including the two CVTs and the two ultrasonic motors, in a parallel configuration. The experimental results verify that the maximum fingertip force of the finger is as large as 30 N and the maximum angular velocity of its joints is more than 400°/s. These performance results would be impossible without the CVTs. We also verify that the finger can lift up a 1.5-kg load. 相似文献