摘要
基于抓持刚度和关节刚度、抓持阻尼和关节阻尼的概念 ,采用拉格朗日方程推导了多指抓持系统的小位移干扰方程并对其进行了模态分析 ,按照最佳稳定性为目标对多指灵巧手抓持进行了最优化设计以得到最佳的抓持姿态。以 BH-
The paper characterizes the grasp stiffness and joint stiffness for the grasping system of a multi fingered dextrous hand, and develops the expressions for the potential energy, kinetic energy and the dissipation function in a grasp. Using a Lagrangian formula, the small displacement disturbance equation for multi\|fingered grasping system is introduced and the equation is solved by modal analysis. Based on this work, an optimum grasping planning is formulated as a non linear programming problem so that the grasping system could have ideal asymptotical stability. An example for the BH 2 anthropoid hand grasping a cylinder object demonstrates the applicability and effectiveness of the method.
出处
《航空学报》
EI
CAS
CSCD
北大核心
1996年第3期324-329,共6页
Acta Aeronautica et Astronautica Sinica
基金
国家自然科学基金
航空基金资助课题
关键词
机器人
手指
稳定性
最优规划
robots fingers stability optimal planning
