机器人灵活手的运动分析和力分析

机器人灵活手可以稳定地抓持任意形状物体,或利用手指的运动操纵物体相对于机器人末杆(或手掌)的运动.它的运动学和力传递关系比一般开链机器人复杂得多.本文分析了在被抓持物体与手指指尖,手指指尖与手指关节之间力和虚位移的关系.利用线性变换的理论揭示了过约束、欠约束和奇异状态的形成条件.本文还分析了手指机构冗余自由度、亏缺自由度和奇异位形对抓持的影响.这些结果为机器人灵活手的设计和控制方案的规划提供了理论依据.

ANALYSIS OF FORCES AND MOTION FOR DEXTEROUS ROBOTIC HAND

Dexterous robotic hand can stably grasp an object with arbitary shape,and manipulate the object by mov-ing its fingers.The kinematics and force propagation are far more complex than general robotic mechanismswith one open kinematic chain.This paper analyzes four relationships concerning with forces and virtual dis-place ments between the finger-tips and the gtasped object,the finger-tips and the fingers' joints.Using lin-ear transformation theory,the paper reveals the generant conditions of overconstraint,underconstraint,andsingularity.The grasping effects of redundance,deficiency of freedom,and singular configuration of fingermechanisms are examined.The results developed in the paper can be used for the design of dexterous robotichand and the planning of the control scheme.