摘要
为了深入掌握灵巧手运动过程,需要对灵巧手各关节的位移、速度、加速度、静力进行研究,得到运动学相关的理论数据。在分析了Shadow仿人灵巧手的机械结构特点的基础上,运用D-H坐标法,建立Shadow仿人灵巧手的运动学模型,推导出运动学正、逆方程,求解出正、逆解析解和雅可比矩阵,分析了灵巧手的微分运动学,求解出雅克比矩阵,并且得到了静力学相关参数,为下一步的理论研究和仿真实验提供数据参考。
In order to grasp the motion process of dexterous hand, the researches of displacement, velocity, acceleration and static force of dexterous hand joints are needed, so that the kinematics data can be obtained. The mechanical structure characteristics of dexterous hand were studied in this paper, and the D-H parameter method was used to establish the kinematics model. The forward and inverse kinematics equations were derived, and the forward and inverse analytical solution was solved. The differential kinematic was analyzed, and the Jacobian matrix was derived. Also the parameters of statics were obtained.
出处
《电子设计工程》
2014年第24期86-89,92,共5页
Electronic Design Engineering
关键词
机器人灵巧手
D-H坐标法
正运动学
逆运动学
微分运动学
静力学
robot dexterous hand
D-H parameter method
forward kinematic
inverse kinematic
differential kinematic
statics
