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借助于仿生学的人体手指结构,通过关节与驱动装置的相互结合,以柔性关节来作为机械手运动的主要核心,这样也就形成了如今我们所见到的气动柔性五指机械手。而本文记录了对气动柔性五指机械手研究的相关细节,包括借助参数化齐次坐标的变换矩阵来建立运动学方程以测定气动柔性五指机械手的运动规律,然后对机械手所能够产生的复杂的抓持动作进行仿真,而气动柔性五指机械手的实物样机完成了相关一系列的实验也足以证明了气动柔性五指机械手是具有相当良好的灵活性和抓持能力的,其可以完成抓、捏、拧等将近13种抓持模式,对于形状不规律的物体也会有比较良好的适应性。
With the aid of bionics human finger structure, through the combination of joints and driving devices, the flexible joint is used as the main core of the robot movement, thus forming the aerodynamic flexible finger manipulator we now see. In this paper, the relevant details of the research on pneumatic flexible finger manipulator are recorded, including the establishment of kinematic equations by means of parametric homogeneous coordinate transformation matrix to determine the motion of pneumatic flexible finger manipulator, and then the complex grip Action simulation, and the pneumatic flexible five-finger robot physical prototype completed a series of experiments is also sufficient to prove the pneumatic flexible finger manipulator is a very good flexibility and grasping ability, which can complete the grasping, pinching, screwing, etc. near 13 kinds of grip mode, the shape of the object will have a relatively good adaptability.