摘要
建立了机械手的三维模型,对机械手运动学和动力学性能进行了仿真研究,分析了运动部件之间的相对关系,完成了机械手抓取不同目标物时的运动学、动力学仿真;机械手采用液压驱动方式,驱动力大、结构简单;机械手有3个手指,采用4个驱动元件实现对机械手11个自由度的驱动,3个手指之间的相对位置可根据抓取目标物的形状而改变,抓取物体时具有形状自适应能力.
A 3D manipulator model is first developed based on kinematics and dynamics.The correlation between motional elements is then analyzed to realize the kinematical and dynamical simulations.Accordingly,the hydraulic driving is applied in terms of powerful actuation and simple structure.In details, four actuators are used for a three-finger manipulator to handle eleven degrees of freedom （DOF）.Finally,the reciprocal positions of manipulator fingers can be adapted to the contours of grabbed objects.
出处
《中国工程机械学报》
2007年第4期379-383,共5页
Chinese Journal of Construction Machinery
关键词
欠驱动
水下
作业机械手
柔顺抓取
underactuation
underwater
manipulator
complaisant grabbing
