摘要
针对精细抓取模式下刚软耦合仿人手柔顺接触的特点,为使其具备类人手的抓取作用力施加能力,首先建立仿人手的抓取力平衡方程和约束优化函数,进而提出基于外罚函数的手指最小作用力优化方法.仿人手可通过施加合适的力实现对不同物体的稳定抓取,有效避免手指在抓取过程中使物体产生大变形或抓取失败.实验结果表明:每个手指作用力的测量平均值与理论计算值的绝对误差基本处于0~0.14 N范围,相对误差为0~18.57%范围,所提方法满足了刚软耦合仿人手在精细抓取模式下稳定可靠地抓取不同物体的需求.
Aiming at the compliant contacts characteristics of the rigid-soft coupled anthropomorphic hand in precision grasping modes,to make it have the ability of applying grasping force of anthropomorphic hand,the grasping force equilibrium equation and constrained optimization function were first established,and then a finger minimum force optimization method was proposed based on an external penalty function.The anthropomorphic hand could successfully achieve stable grasping of different objects by applying suitable forces,effectively preventing significant deformation or grasping failures during the grasping process.Experimental results show that the measured average values of individual finger forces exhibit absolute errors mostly within the range of 0 to 0.14 N,with relative errors falling between 0 to 18.57%.The proposed approach fulfils the demands of the rigid-soft coupled anthropomorphic hand,enabling stable and reliable grasping of various objects in precision grasping modes.
作者
李泳耀
江磊
杜宇
丛明
LI Yongyao;JIANG Lei;DU Yu;CONG Ming(Unmanned Vehicle Research Center,China North Vehicle Research Institute,Beijing 100072,China;Collective Intelligence and Collaboration Laboratory,Beijing 100072,China;School of Mechanical Engineering,Dalian Jiaotong University,Dalian 116028,Liaoning China;School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,Liaoning China)
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2024年第5期144-149,共6页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
中国博士后科学基金资助项目(2023M733284)
国家自然科学基金资助项目(52205035).
关键词
仿人手
刚软耦合
精细抓取
柔顺接触
手指作用力优化
anthropomorphic hand
rigid-soft coupling
precision grasping
compliant contact
finger contact force optimization
