仿生灵巧手的手指设计与控制

Design and Control of Bionic Dexterous Hand Fingers

针对机器人末端灵巧性等问题,结合人体手指仿生学设计原理的灵巧手型,设计一种仿生灵巧手。基于拉格朗日方程和PD控制特性,求解灵巧手动力学模型及控制方案,忽略重力项的影响,对指关节进行独立PD控制,仿真表明:单手指的响应特性趋于稳定,为设计整只灵巧手奠定了良好基础。

In view of the dexterity of the robot, a kind of bionic dexterous hand is designed, based on the dexterous hand type of the human finger. The characteristic model and control scheme for smart manual mechanics is solved, with the Lagrange equation and the PD control based on. Neglecting the effect of gravity, simulation of the finger joint independent PD control is resolved, showing that the response characteristics of single finger tends to be stable and laying a good foundation for the design of the dexterous hand.