YWZ灵巧手运动学分析和交互式仿真

对一种多自由度的灵巧机械手进行了运动学分析以及交互式的运动学仿真。首先介绍了YWZ灵巧机械手的机械结构和自由度，然后通过D-H方法得出YWZ灵巧机械手的运动学方程，最后提出一种交互式的运动学仿真方法对YWZ灵巧机械手进行运动学仿真。仿真结果表明：交互式的灵巧机械手运动学仿真能在仿真过程中实时调整虚拟灵巧手各个关节的旋转方向、角度，优化抓取动作，不必反复设置运动学参数，提高了运动学仿真的效率，有利于灵巧手机械结构的设计和控制方案的改进，为灵巧手的研制和实际控制提供理论依据。

Interactive Motion Analysis of the YWZ Dexterous Hand

This paper analyzes the motion characteristics and explains the interactive motion simulation of a dexterous robot hand with multiple degrees of freedom. First, we introduce the mechanical structure and degree of freedom of the YWZ dexterous robot hand. Second, we deduce the kinematic equation of the robot hand via the D-H method. Lastly, we propose a method that makes the motion simulation of the ro- bot hand interactive. The results show that the interactive method can adjust the direction of rotation and the angle of each joint in the simulation process in real time through the optimization grab action. Don＇t have repeatedly kinematics parameter settings. The method improves the efficiency of the kinematic simu- lation, which is beneficial to the mechanical structure of the dexterous hand design and control scheme, and helps provide a theoretical basis for the development and actual control of the dexterous hand.