基于虚拟力弹簧方法的Partial Finger动力学建模与仿真

摘要

A dynamic model of the Partial Finger based on virtual force spring method is established to master the motion and dynamics characteristics of the partial finger, to judge the effect of structure parameters on its performance, and to accurately evaluate its real operation state. The numerical solution of the dynamic model is done by the application of Matlab software. The same result is obtained compared the numerical solution with the Adams software simulation dada in the same grasp condition of the Partial Finger when the elasticity coefficient of the virtual force spring value is 104N/mm, which proves the validity of dynamic model and provides the basis for the further research of the Partial Finger.%为了掌握Partial Finger的运动学规律和动力学特性,判断其结构参数对Partial Finger使用性能的影响,准确评价其真实的工作状态,根据PartialFinger的机械结构,建立了基于虚拟力弹簧方法的Partial Finger动力学模型,并利用Matlab软件对所建立的动力学模型进行数值求解,通过对比相同工作状态下的动力学模型以及Adams仿真结果,初步确定虚拟力弹簧的弹性系数量级取104N/mm时,动力学模型和Adams仿真所得结果一致,证明动力学模型正确,并为Partial Finger机械结构的进一步设计、完善提供了理论依据.