摘要
应用虚功原理建立了SJT2欠驱动仿人假肢手的抓取静力学模型,实现了抓取操作过程中静力分配的仿真计算。利用Open inventor建立了假肢手的虚拟场景,同时利用Coldet完成了图形仿真系统的碰撞检测功能。利用虚拟仿真系统,实现了对圆柱形物体的抓取仿真。
Based on the the grasping static model virtual power principle, is derived for the SJT2 hand, which is a prototype of EMG controlled underactuated prosthetic hand. A simulation system for the SJT2 hand is developed. The primary functionality of the system is to simulate the kinematics and statics of the hand during grasping manipulation. Open inventor is employed for the implementation of the simulation system, with collision detection being implemented by using Colder.
出处
《机械与电子》
2008年第3期47-50,共4页
Machinery & Electronics
基金
国家杰出青年科学基金资助项目(50525517)
上海市重点基础研究项目(05jc14027)
关键词
欠驱动
假肢手
静力学
仿真
underactuated
prosthetic hand
statics
simulation
