移动机器人灵巧手的优化设计

Optimization Design for Dexterous-Hand of Mobile Robot

针对移动机器人灵巧手的最佳灵巧性设计问题,提出了一种最优化结构参数的设计方法。将人类手指仿生学原理引入优化算法中,从单个手指的灵巧性分析出发,采用灵巧度指标最优的设计准则,确定了空间单指的最佳灵活性区域、各杆长度间的关系以及各关节的旋转范围,并采用MATLAB对上述结构参数进行优化计算与仿真,获得了满足抓取任务的尺寸参数,在此基础上对手指间相对位置采取了定量化的计算方法,仿真结果满足了灵巧性的设计要求。

Aim at design question of dexterous--hand optimization structure parameter confirming and optimal dexterous, a new optimization design method was proposed. The bionics principle of mankind finger was introduced to the structure parameter optimization algorithm. Firstly the dexterity of the single finger was analyzed, the design criteria of dexterity with optimum index was adopted, space best dexterity area, relation of every rod length and rotation range of every joint were confirmed. Then MATLAB optimization toolbox was used to optimize the above--mentioned structure parameter, it gained the optimal dimension of content task of grasping. Finally the method of ration numeration relative position of fingers was proposed. It is applied to the real design of housework service robot, optimal flexible performance is obtained.