多指手Power抓持的鲁棒性分析及稳定载荷域计算

Robustness Analysis and Determination of Stability LoadDomain of Multi-Fingered Hand Power Grasps

分析了多指手Power抓持可被动抵抗外部载荷扰动影响的性质 ,给出具有一般意义的抓持鲁棒性定义。基于抓持接触力空间的分解及接触力空间与外力空间的映射关系 ,将外力空间分解为主动平衡外力子空间及被动平衡外力子空间 ,给出抓持系统具有鲁棒性质的充分必要条件。针对Power抓持鲁棒性的定量描述 ,提出一种确定抓持稳定载荷域的有效算法。

This paper investigated the robustness of multi-fingered hand power grasps. The characteristics that a power grasp can passively resist external disturbance forces were analyzed, and a general definition of robustness was proposed. According to the decomposition of contact force spaces and the mapping between the external force spaces and the contact force spaces, the external force space was divided into two subspaces, i.e., the actively and passively balanced subspaces. On this basis, the necessary and sufficient conditions for a grasping system to have robustness were given. For the quantitative description of grasping robustness, an effective algorithm to determine the stability load domain is developed.