机器人灵巧手的运动学分析及仿真

Kinematics analysis and simulation of bobot dexterous hand

为了实现对灵巧手各关节的实时控制,提高灵巧手工作的"灵巧度",本文以英国Shadow公司的Shadow仿人灵巧手为研究对象,研究了Shadow灵巧手机械结构特点,运用D-H坐标法,建立了灵巧手的运动学模型,推导出灵巧手的单指正、逆运动学方程,求解出正、逆解析解及相关参数,并且运用Matlab软件对结果进行了验证和仿真,为进一步研究灵巧手动力学问题提供理论依据。

In order to realize the real-time control of each joint of the dexterous hand and improve the＆quot;dexterity＆quot;during the working process, the mechanical structure characteristics of dexterous hand were studied and the research was based on Shadow dexterous hand. Then the kinematics model is established by using D-H parameter method , and the forward and inverse kinematics equations are derived. The analytical solution and related parameters were solved also. Finally the results are verified and simulated in Matlab. .The results are the theoretical reference for the further study of the dynamics of dexterous hand.