多指手操作系统的运动学通解及活动性分析

基金项目:

国家自然科学基金(59985001)

详细信息

General Kinematic Solution and Mobility Analysis of Multi-fingered Hand Manipulation System

1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China;
2. Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要: 探讨了多指手操作系统运动学通解的构造及活动性分析问题。给出了多指手操作的运动学方程,并通过在物体及关节速度空间分别定义内积将这两个空间进行正交分解。并提出一种适用于各类多指手操作系统的、构造运动学方程通解的方法。基于得到的通解表达式分析了各速度子空间之间的映射关系,进一步给出了系统活动性分析的计算公式。
- 多指手操作 /
- 运动学通解 /
- 活动性
Abstract: The authors explore the constitution of the general kinematic solution and the mobility analysis of multi-fingered hand manipulating systems. First, the kinematics equation of the multi-fingered hand manipulation is presented and the velocity spaces of object and finger joints are, respectively decomposed orthogonally by introducing appropriate inner products. Then a method suitable to all kinds of multi-fingered hand manipulating systems, and the general solution of structural kinematics formula is proposed. According to the obtained analytic expression formula of the general solution, the mapping relations between the velocity subspaces are analyzed, and the mobility analysis formulae of multi-fingered hand manipulating systems are given.
- multi-fingered hand manipulation /
- general kinematic solution /
- mobility