浅析机械手灵巧抓控运动学、动力学机理

Analyses of the Kinematics and Dynamics of Manipulating an Object with Mechanical Hands

普通机械、液压夹紧装置针对确定形状、特性的工件,施加压紧力固定工件。随着柔性加工技术的发展,生产线上的夹紧装置将面对不同形状、特性的工件,一般夹紧装置难以适应。在实际操作过程中,应以目标(工件)为中心,在分析机械手指与目标物体表面接触形式和状态的基础上,应用雅各宾、牛顿-欧拉方程确定主动力的大小和方向,从而进一步探讨机械夹紧装置(机械手)灵巧抓控运动学、动力学机理。

General mechanical、hydraulic actuated clamp is aimed at fixing work-piece of the definite shape and characteristic by actuated clamp force. However,along with the development of the flexible manufacturing system, Actuated clamp in a production line will be aimed at fixing the work-piece of different shape and characteristic. General actuated clamp is usually not adept. In an actual production process, direction and strength of the driving forces are determined by using the Jacobians Lagrange and Newton-Eular equation. And the dexterous manipulation kinematics and dynamics of the mechanical hand (mechanical actuated clamp ) is also discussed.