摘要
为了研究机器人臂/手仿真系统对物体的操作,首先对机器人臂/手系统和物体进行了运动学建模,然后利用建好的机器人臂/手仿真系统,基于机器人臂/手系统的运动学、静力学,实现了右手拿杯倒水、手指拧、斜抛球等操作,最后探讨了机器人臂/手操作物体时,机器人臂关节力矩对灵巧手指端力的影响。实验结果表明,该模型具有建模方便、适用于大部分机器人臂/手系统和利于计算机求解等特点。
To researching into object operations based on robot arm/hand simulation system, a kinematics＇ model was firstly built. Then by using the robot arm/hand simulation system, which based on the robot arm / hand system kinematics and the statics, some object operations were completed, such as grasping a cup and pouring the water by the right hand, screwing object by finger and throwing the ball obliguely. Finally, the forces on the fingertips influenced by robot arm joint torque when robot arm / hand system operated the object were also discussed. The experimental results show that the model is convenient, it is suit for robot arm/hand system, and it is in favor of computer solution.
出处
《机电工程》
CAS
2009年第5期4-8,共5页
Journal of Mechanical & Electrical Engineering
