基于有限元的柔性手指运动及动力特性分析

Flexible finger movement and dynamic characteristics analysis based on finite element

柔性驱动器是柔性机器人研究的方向之一,文中设计了一种具有充分柔顺性和安全性的柔性灵巧手指。应用有限元和试验的方法分析了柔性灵巧手指的指尖运动学特性,基于ANSYS有限元软件分析了柔性灵巧手指多点接触抓取过程模型、指尖力输出特性及工作过程的稳定性。为柔性灵巧手指在机器人多指灵巧手中的应用研究奠定相关理论及技术基础。

Flexible actuator is one of the key directions of flexible robot research. This paper presents a flexible dexterous finger with sufficient flexibility and security. Finite element method （FEM） and experimental methods are applied to analyze the fingertip kinematics characteristics of the flexible dexterous finger. Based on ANSYS finite element software analysis ,the multi- touch grasping process model of flexible dexterous finger, the output characteristics of fingertip force and the stability of work processes are discussed respectively. The research lays the foundation of theories and techniques for flexible dexterous finger in the application of multi-fingered dexterous robotic hands.