基于旋量的多指手爪运动学分析

Kinematic Analysis of a Multifingered Hand with Screw Theory

阐述了旋量的基本理论,应用旋量的概念和方法,对机器人多指手爪作了运动学分析,导出了多指手爪运动学求解的递推公式,该公式与牛顿-欧拉运动学方程相比,计算速度更快,有利于多指手爪的实时控制:另外,对多指手爪操作物体时的灵巧问题作了讨论,提出了一个衡量灵巧性好坏的指标,该指标在运动规划和寻找多指手的最佳布局方面具有实用价值。

The theory of screws has been described in this paper. Based on this theory, The Kinematics of the object manipulated by a multifingered robot hand is analyzed. The velocity recurrence formula of finger tip of a multifingered hand is proposed. Compared. with Newton-Euler kinematic equator, the formula speeds up the kinematic calculation of a multifingered robot hand. The manipulating kinematic dexterity problem of a multifingered robot hand.is discussed. The practical dexterity measure and control law are presented. The measure is very Useful inmotion planning and finding optimum configuration of multifingered robot hands.