机器人手指机构的渐进稳定性研究

RESEARCH ON THE ASYMPTOTICAL STABILITY OF ROBOTIC HAND MECHANISM

研究了机器人灵活手手指机构抓持物体时时渐进稳定性问题，重点分析了抓持阻抗与抓持几何的关系，导出了在一个抓持中势能、动能和耗散函数的表达式。在上述工作的基础上建立了系统的扰动方程。利用扰动方程对手指－物体系统进行模态分析，以进一步用来优化某些特征量，获得良好的渐进稳定性。改善手指－物体系统的渐进稳定性是本文首次提出的观点。

The asymptotical slability of tobotic hand grasping is discussed.Tke exptes-sions for tlie potential enetgy, the kinetic energy and the dispassion function in a graspis developed. Based on these results, the disturbance equation is introduced.Using theequation, the Paper addresses lhe modal analysis of the hand-object system. The result ofthe modal analysis can be used for fhe optimization of some characteristic parameters togain ideal asymptotical stability.