基于手掌拱形的TJU/KCL灵巧手参数优化设计

Optimization Design of the Metamorphic Hand Based on Palm Arch

结合解剖学和生物力学中对人手的研究成果,完成了对变胞仿人灵巧手机构参数的优化设计。本文将人类手掌的掌弓和衡量掌弓的运动学横向拱形的概念应用于TJU/KCL灵巧手的运动分析上,以此为基础建立了变胞灵巧手与人手在抓取运动上的联系;建立TJU/KCL灵巧手的机构模型,以最大化与人手相似的抓取姿态为目标函数,采用遗传算法,实现了变胞灵巧手的参数优化。通过手掌的变胞运动,优化后的灵巧手能实现多个与人手相似的抓取姿态,突出了手掌的可变性和灵巧手的仿人性。

This paper proposes a new evaluation method based on transverse metacarpal arch to assess the palmar shape modulation of the TJU/KCL hand. The method is used to investigate the palmar motion during the robot hand grasping for the first time. It is a more intuitive description that establishes the relationship between human palm and the metamorphic robot palm. With the objective function that the robot hand could achieve the grasp postures which are similar with those of human hand as much as possible, the optimization design is divided into two parts ： the parameters optimization of the spherical three bar linkage installing fingers and the dimensional synthesis of the spherical metamorphic linkage. Then the optimization is completed by using genetic algorithm and the results are validated by checking the deviation between target and actual values.