Shadow仿人灵巧手动力学研究

摘要

In order to to realize the real-time control of dexterous hand, the researches of the inverse problem of dynamics of dexterous hand are needed, so that the relationship between motion locus parameters and the required torque can be obtained. In this paper, the Shadow dexterous hand was studied, and the research conclusion of kinematics was referred to. By establishing the dynamic model, the dynamics of Shadow dexterous hand was studied in three respects:the finger link system, tendon transmission system and pneumatic muscles actuator. Finally the single finger dynamics equation of dexterous hand was derived.%为了实现对仿人灵巧手的实时控制，需要对灵巧手的动力学逆问题进行研究，得到运动轨迹相关参量与所需力矩的关系。本文以Shadow仿人灵巧手为研究对象，参考灵巧手运动学的研究结论，建立动力学模型，分析Shadow仿人灵巧手的手指连杆动力学、腱传动系统动力学和驱动系统动力学相关问题，最后得到仿人灵巧手单指动力学方程，为灵巧手的仿真实验和实际应用提供了理论基础。