摘要
以三自由度的仿人手为研究对象 ,对其抓持物体的能力进行研究。在对仿人手抓持给定形状和大小物体的受力进行分析的基础上 ,给出了以抓持起最重物体为目标函数的优化分析计算模型 ,得到了仿人手在具有最大抓持能力时手指各指节与物体之间的作用力的大小。最后获取了“解耦装置”中弹簧预紧力的计算方法 ,并根据优化所得到的各力值计算得到了该预紧力的大小。
DOF humanoid hand is taken as a studying object,and the ability of grasping object is studied in this paper.On the basis of analyzing the force on the grasped object while its shape and size are already known,the model of optimal analysis is given and the weight of the object grasped by the humanoid hand is regarded as optimizing object,and the magnitudes of the acting forces between knuckles and object when the humanoid hand has the maximum grasping ability are gained.Finally,the calculation method of the pre-pressures of the springs in the“unchaining coupling equipment”is obtained,and the magnitudes of the pre-pressures are calculated out according to the value of the grasping forces got by optimizing process.
出处
《机械设计与研究》
CSCD
2004年第3期35-37,共3页
Machine Design And Research
关键词
仿人手
优化
力分析
抓持
抓持能力
humanoid hand
optimization
force analysis
grasping
grasping ability
