| 水下灵巧手运动学分析与实验 |
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| 引用本文： | 王华. 水下灵巧手运动学分析与实验[J]. 机械传动, 2012, 36(3): 67-69 |
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| 作者姓名： | 王华 |
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| 作者单位： | 南京工业大学机械与动力工程学院,江苏南京,210009 |
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| 摘 要： | 介绍了一种三指水下灵巧手,分析建立了单个手指的运动学模型以及每个手指的雅可比矩阵,通过运动实验验证了运动学模型的正确性,为进一步研究灵巧手的轨迹规划、控制等问题提供了理论依据.
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| 关 键 词： | 水下灵巧手 运动学 运动控制 |
Kinematics Analysis and Test of Underwater Dexterous Hand |
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| Wang Hua. Kinematics Analysis and Test of Underwater Dexterous Hand[J]. Journal of Mechanical Transmission, 2012, 36(3): 67-69 |
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| Authors: | Wang Hua |
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| Affiliation: | Wang Hua(College of Mechanical and Power Engineering,Nanjing University of Technology,Nanjing 210009,China) |
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| Abstract: | A tri-fingered dexterous hand is introduced,then the individual kinematics model and Jacobian matrix of every finger are built.The exactness of kinematics model is proved based on the test.The results are the theoretical reference for the further study of underwater manipulator trajectory planning and control. |
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| Keywords: | Underwater dexterous hand Kinematics Motion control |
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