摘要
针对多指手抓取过程中手指与物体构成的执行系统,通过在任务空间引入力椭球和速度椭球的概念,构建了反映抓取映射传递特性的力传动比和速度传动比解析公式。在综合考虑传动比和抓取构型偏离奇异位置等要求的基础上,提出了反映抓取构型任务适应性的抓取评价指标,用于对抓取构型进行最优规划。结合实例说明了上述评价指标应用于多指手最优抓取规划的有效性。
The multi--fingered hand grasping system was viewed as a mechanical executive system. In order to evaluate the transmission characteristics of grasping mapping, the analytical representations of force transmission ratio and velocity transmission ratio were deduced, by taking advantage of the force--ellipsoid and the velocity--ellipsoid concepts defined in task space. Based on the requirements of transmission characteristics and grasp non--singularity, an index was put forward to measure the compatibility of grasp configuration. The optimal planning of grasp configurations for multi--fingered hand based on the index was carried out. An example was given to illustrate the validity of the index application.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2006年第21期2229-2232,共4页
China Mechanical Engineering
关键词
多指手
力传动比
速度传动比
任务适应性
抓取规划
multi--fingered hand
force transmission ratio
velocity transmission ratio
task compatibility
grasp planning
