柔软织物抓取双指灵巧手建模与轨迹规划

摘要

为实现灵巧手在纺织行业的新应用,提出了一种柔软织物抓取双指灵巧手的研究方法.首先,采用D-H参数法,建立双指灵巧手运动学模型;然后在关节空间中对双手指进行五次多项式轨迹规划;最后,利用仿真软件对建模和轨迹规划算法进行验证分析,证明了模型准确可靠,轨迹规划算法合理,灵巧手抓取方式灵活,在操作空间可以对任意形状的柔软织物进行抓取,为实体灵巧手系统研究提供了理论依据.%In order to realize new use of dexterous hand in the textile industry, a research method of two-fingered dexterous hand of flexible fabric grasping was proposed.First, kinematics modeling of two-fingered dexterous hand was established by using D-H parameter method.Second, the trajectory planning of the two-fingered dexterous hand was accomplished by quintic polynomial in the joint space.Finally, modeling and trajectory planning algorithm were verified and analyzed through simulation software.Simulation results prove that the model is accurate and reliable, and trajectory planning algorithm is reasonable, dexterous hand grasp mode is flexible, and it can grasp any shape flexible fabrics in the operating space.The research provides theoretical basis for entity dexterous hand system.