欠驱动多指节机器人手的仿真实现

The Simulation Realization of Underactuated Multi - Phalanx Fingers for Robots

欠驱动多指节机器人手具有较复杂的非线性运动方程组以及运动过程的阶段性，仅用Ｓｉｍｕｌｉｎｋ仿真系统一般很难实现这种机器人手的动态仿真。为此提出用Ｍａｔｌａｂ语言编写的Ｍ－文件与Ｓｉｍｕｌｉｎｋ的仿真系统之间的合理组合，实现多指节手的动态仿真过程。文中用于欠驱动多指节机器人手的动态仿真模型能够发映手指操作的真实过程，并能简化仿真系统的复杂性，这为多指节手的运动、受力分析以及机构、控制设计等提供了有效工具。

It is difficult to realize the dynamic simulation of underactuated multi -- phalanx fingers for robots by only using Simulink under Matlab environment because these multi -- phalanx fingers have high nonlinear movement equations and stage -- wise movement processes. The reasonable combinations of Matlab M -- file and simulation systems of Simulink are presented in this paper to realize the dynamic simulation of the grasping of the fingers. The simulation model of the underactuated multi -- phalanx fingers shows the truly grasping processes of the fingers and simplifies the simulation complex. This method provides the effective tool for the mechanism movement and force analyses, and the mechanism and control design of the multi -- phalanx fingers for robots.