移动机器人灵巧手的优化设计

石油化工高等学校学报 ›› 2007, Vol. 20 ›› Issue (3): 5-7.

移动机器人灵巧手的优化设计

王海英¹ , 尤波¹ , 孙晓波¹ , 张礼勇¹

(1 .哈尔滨理工大学自动化学院, 黑龙江哈尔滨150080 ;2 .哈尔滨理工大学测控技术与通信工程学院, 黑龙江哈尔滨150040)

收稿日期:2007-02-05 出版日期:2007-09-20 发布日期:2017-07-05
作者简介:王海英(1969 -), 女, 山东寿光县, 在读博士
基金资助:
国家863 计划课题(2003AA404190)。

Opt imization Desig n for Dex terous -Hand of Mobi le Robo t

(1. School of Automation, Harbin University of Science and Technology，Harbin Heilongjiang 150080,P.R. China; 

2. School of Measurement-Control Technology and Communications Engineering，Harbin University of Science and Technology，Harbin Heilongjiang 150040,P.R. China)

Received:2007-02-05 Published:2007-09-20 Online:2017-07-05

摘要/Abstract

摘要： 针对移动机器人灵巧手的最佳灵巧性设计问题, 提出了一种最优化结构参数的设计方法。将人类手
指仿生学原理引入优化算法中, 从单个手指的灵巧性分析出发, 采用灵巧度指标最优的设计准则, 确定了空间单指
的最佳灵活性区域、各杆长度间的关系以及各关节的旋转范围, 并采用MAT LAB 对上述结构参数进行优化计算与
仿真, 获得了满足抓取任务的尺寸参数, 在此基础上对手指间相对位置采取了定量化的计算方法, 仿真结果满足了
灵巧性的设计要求。

关键词: 移动机器人 , 灵巧手 , 灵巧性 , 最优化

Abstract:

Aim at design question of dexterous-hand optimization structure parameter confirming and optimal dexterous, a new optimization design method was proposed. The bionics principle of mankind finger was introduced to the structure parameter optimization algorithm. Firstly the dexterity of the single finger was analyzed, the design criteria of dexterity with optimum index was adopted, space best dexterity area, relation of every rod length and rotation range of every joint were confirmed. Then MATLAB optimization toolbox was used to optimize the above-mentioned structure parameter, it gained the optimal dimension of content task of grasping. Finally the method of ration numeration relative position of fingers was proposed. It is applied to the real design of housework service robot, optimal flexible performance is obtained.

Key words:

Mobile robot, , Dexterous-hand, , Dexterity, , Optimization

王海英, 尤波,孙晓波, 张礼勇. 移动机器人灵巧手的优化设计[J]. 石油化工高等学校学报, 2007, 20(3): 5-7.

WANG Hai-ying, YOU Bo, SUN Xiao-bo, ZHANG Li-yong. Opt imization Desig n for Dex terous -Hand of Mobi le Robo t[J]. Journal of Petrochemical Universities, 2007, 20(3): 5-7.

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