抓取柔软织物多指灵巧手的建模与仿真

Modeling and simulation of multi-fingered dexterous hand grasping flexible fabric

为实现灵巧手对柔软织物的抓取,提出一种利用Matlab进行建模与仿真的分析方法.首先,根据任务要求设计了具有3指结构特点的多指灵巧手;其次,采用D-H参数法,通过描述手指各连杆之间的齐次坐标变换关系,建立其运动学模型,并采用直线插补算法在笛卡尔空间中对其进行轨迹规划;最后,利用Matlab软件进行仿真实验.结果表明,多指灵巧手结构设计合理,建立的模型准确可靠,轨迹规划算法符合要求,在其操作空间中能够实现对任意形状物体的抓取.

In order to realize flexible fabric＇s grasp by dexterous hand, a research method of modeling and simulation using Matlab is proposed. First, the structure of three-fingered dexterous hand is de signed according to the requirements of tasks. Second, kinematics modeling of dexterous hand is established with D-H parameter method by describing homogeneous coordinates transformation relation of fingers＇ connecting rod, and linear interpolation algorithm is used for trajectory planning in cartesian space. Finally, simulation experiment is carried out by Matlab software, and the results show that the design of the dexterous hand is reasonable, and the modeling is accurate and reliable, and the trajecto- ry planning algorithm is expectant,and can achieve the operation of the arbitrary shape object in its op crating space.