三指灵巧手静力学分析与抓取仿真研究

Study on Statics Analysis and Grasping Simulation of Three-Fingered Dexterous Hand

传统的机械手功能比较单一,研究多自由度灵巧手具有非常重要的意义。遵循机械原理并且模仿人类手指结构,设计出关节为全电机驱动的三指灵巧手。利用雅可比矩阵对其进行静力学分析,建立灵巧手的包络抓取模型,通过Adams软件对其进行了抓取动力学仿真,分析了手指在强力抓取物体时每个指节所受接触力的变化。仿真结果表明:设计的灵巧手结构合理,动作灵活,既可进行定姿态抓取,也可以实现强力抓取,且强力抓取物体时整个灵巧手系统受力稳定,其仿真结果对下一步研究精确运动控制奠定了基础。

The traditional manipulator is single function,so it is significant to study the multi-dof dexterous hand.A three-fingered dexterous hand with motor drives is designed by following the me-chanical principle and imitating the structure of the human fingers.By using Jacobian matrix,statics of three-fingered dexterous hand is first analyzed and then an envelope grasping model of this dexter-ous hand is build by using the Adams software to simulate its grasping dynamics and examine the con-tact force changes of every j oint when the fingers are in powerful grasping obj ects.The simulation re-sults show that the structure of the dexterous hand is reasonable and the action is flexible,which can realize both pose grasping and power grasping.Moreover,for powerful grasping obj ects the mechani-cal system of the dexterous hand shows great stability.The simulation results can provide the basis for the next step study for accurate motion control.