| 五指仿人灵巧手运动学与动力学模型 |
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| 引用本文： | 余麟,刘昊,彭光正.五指仿人灵巧手运动学与动力学模型[J].北京理工大学学报,2008,28(10):880-884. |
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| 作者姓名： | 余麟 刘昊 彭光正 |
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| 作者单位： | 北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081;北京理工大学,信息科学技术学院自动控制系,北京,100081 |
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| 摘 要： | 对气动人工肌肉驱动的五指仿人灵巧手进行了运动学及动力学分析. 在Matlab上进行了仿真计算,建立了灵巧手的运动学模型并求得其解析解;同时用Newton-Euler方法对灵巧手进行了逆动力学分析,得出了灵巧手的动力学方程.通过基于灵巧手动力学模型和气动人工肌肉静态模型的主从控制实验,结果表明,可以通过数据手套采集关节的角度变化信息控制灵巧手完成抓取物体的动作.
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| 关 键 词： | 灵巧手 运动学 动力学 |
| 收稿时间： | 2008/3/20 0:00:00 |
Kinematics and Dynamics of 5-Finger Dexterous Hand |
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| YU Lin,LIU Hao and PENG Guang-zheng.Kinematics and Dynamics of 5-Finger Dexterous Hand[J].Journal of Beijing Institute of Technology(Natural Science Edition),2008,28(10):880-884. |
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| Authors: | YU Lin LIU Hao and PENG Guang-zheng |
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| Institution: | Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing 100081, China;Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing 100081, China;Department of Automatic Control, School of Information Science and Technology, Beijing Institute of Technology, Beijing 100081, China |
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| Abstract: | Analysis of kinematics and dynamics of a dexterous hand are implemented and simulated on Matlab.Kinematic model of the dexterous hand is established and solved.The inverse dynamics of the dexterous hand is analyzed based on the Newton-Euler method and its results are achieved.Based on the dynamics of the dexterous hand and the static model of PMAs,the system implements its master-slave control.It showed grasping of objects by the dexterous hand. |
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| Keywords: | dexterous hand kinematics dynamics |
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