一种4自由度三指灵巧手的设计和运动学分析与仿真研究

摘要

设计了一种4自由度、8关节三指灵巧手，借助力矩转换器对关节运动的逻辑控制作用和对三指相对位置的调整，大大提高了对复杂外形物体抓取的适应性和可靠性。建立了灵巧手系统正、逆运动学的解析算法，并通过数值仿真验证了正、逆解算法的正确性，为该三指灵巧手的运动控制和抓取作业规划等研究奠定了基础。%A three-fingered dexterous hand with four-DOF and eight-joints is designed, and its special operation mode is presented in this paper. The adaptability and reliability of its grasping are improved greatly, owing to the logical control of torque switch and the ad-justment of relative position between three fingers. The forward and inverse kinematics solutions are solved, and the correctness of kinematics model is proved by computer simulation. This paper provides the theoretical foundation for further study of this three-fin-gered dexterous hand.