滚动接触时机器人手的操纵

MANIPULATION PLANNING OF PLANAR ROBOT HAND WITH ROLLING CONTACTS

多自由度多手指,具有高度灵活性的机器人手(Robot hand)的研究受到了越来越多的学者和专家的重视,机器人手与物体的接触形式有3类:1)固定点接触;2)滚动接触;3)滑动接触。本文研究滚动接触时机器人手的操纵机理,导出了手指尖运动之间的相容关系。利用本文结果,一方面可以从已知的手指尖运动求出物体(被操纵体)的运动;另一方面,可实现对机器人手的操纵规划,从而使机器人手对物体实现给定操作。

This paper deals with manipulation mechanism of plannar robot hand with (pure) rolling contacts.Some kinematical compatible conditions of finger-tip motions are obtained. A method of manipulationplaning is developed. If the motions of finger-tips are given and if they satisfy compatible conditions, themotion of manipulated object can be derived by using the method presented. On the other hand, we canplan the motion of the fingers, so that prescribed motion of manipulated object can be realized.