摘要
对戴建生提出的新型的变胞多指灵巧手进行分析。该灵巧手与目前常用的机器手最大的不同在于它的手掌可以活动,并具有变胞功能。手掌的变胞增强了机器手的灵巧度并增大了工作空间。当手掌杆件静止的时候,每个手指都在一个平面内运动,由此提出手指操作平面的概念,从而将研究抓取姿态的问题转化为研究手指操作平面单位法矢量的问题。建立球面变胞手掌的全局坐标系,并得到3个手指平面的单位法矢量在此全局坐标系下的表示,然后将抓取姿态映射成为姿态直纹面。将机器手的工作空间分为手指和手掌两部分,着重研究后者,提出工作空间三角形的概念。工作空间三角形随着手掌的运动而变化,映射成为手掌工作空间直纹面后可以直观地了解其形状和大小的变化情况。
A novel metamorphic multifingered dexterous hand which is put forward by DAI Jiansheng is analyzed. This hand differs from the previous robot hands in that the palm is moveable and reconfigurable. The reconfiguration of the palm enhances the dexterities and the workspace of the hand. When the linkages of the palm stand still, each finger operates in a plane. Hence the finger-operation plane is introduced. The problem of grasping poses of palm is transformed to that of studying the unit normal vector of finger-operation planes. The global coordinate system of the spherical metamorphic palm is set up, and the expression of the unit normal vector of three finger-operation planes under this coordinate system is obtained. The grasping pose is mapped to ruled an＇face of pose. The workspace of the robot hand is divided into two parts, i.e. fingers and palm, and the latter is researched emphatically. The concept of workspace triangle is presented. The workspace triangle varies with the movement of the palm, and after it is mapped to the ruled surface of palm workspace, the changing of its shape and size can be viewed directly.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2008年第8期1-6,共6页
Journal of Mechanical Engineering
基金
国家自然科学基金(50475154)
国家高技术研究发展计划(863计划，2006AA04Z101)资助项目
关键词
多指灵巧手
变胞
手掌
工作空间
Multifingered dexterous hand Metamorphism Palm Workspace
