机械灵巧手设计与控制研究

Research on Design and Control of Mechanical Dexterous Hand

针对残疾人手指灵活性这一问题,结合人体手指的灵巧性,设计一种机械灵巧手,且对其握持和敲打等特征进行仿真分析;基于拉格朗日公式求解机械灵巧手的动力学方程,尤其探究关节的动力学模型,鉴于灵巧手的工作需求,采用非线性PD和自适应反馈控制对其控制器设计,且对误差扰动为未知进行仿真分析,结果表明:所设计的自适应控制器能够满足所设计的工作需求,为仿生辅助医疗机器人设计提供一些参考价值。

Ainaing at the disabled dexterity of disabled individuals, a mechanical dexterous hand is designed. by combining with the dexterity of the human finger. The simulation analysis is done, including the characteristic of gripping and beating. The dynamic model of mechanical dexterous hand is solved, based on Lagrange equation, especially for dexterous finger joint inquiry. The controller of the nonlinear PD and adaptive is resolved to meet the needs of the dexterous hand work. With the unknown of disturbance upper bound, the simulation of the dexterous finger joint is manged, showing that the controller can meet the design requirements and provide some reference value for the design of bionic robot assisted medical.