哈尔滨工程大学学报Issue(5)：602-606,5.DOI:10.3969/j.issn.1006-7043.201301050
类人型五指手构型的优化设计
Optimized design for the five-finger hand configuration
摘要
Abstract
This paper presents an optimized design method for the five-finger hand configuration based on the form closure theory,considering the multi-point contact grasping characteristics of the human hand. Firstly,the necessa-ry parameters of the optimized design need to be confirmed according to the five-fingers grasping movement require-ments. And then a form-closure status is calculated with the J discriminant function for both the spherical grasp and the cylindrical grasp. Secondly,an interval iterative algorithm was used to achieve the feasible interval maximization of the parameters for the five-fingers on the premise of form closure,with the norm domain width being its parame-ters optimization performance indicator. Finally,the best design result of the most important 5 parameters of the five-finger hand was obtained from an example of the spherical grasp. Simulation results show that the performance indicator after optimization is 17% higher than the previous one,and the grasping stability of the five-finger hand is significantly improved.关键词
球形抓取/圆柱形抓取/形封闭/可行区间最大化/范数域宽/稳定抓取/五指手构型Key words
spherical grasp/cylindrical grasp/form closure/feasible interval maximization/norm range/stable grasp/five-finger hand configuration分类
信息技术与安全科学引用本文复制引用
樊绍巍,陈川,姜力,曾博,刘宏,邱景辉..类人型五指手构型的优化设计[J].哈尔滨工程大学学报,2014,(5):602-606,5.基金项目
国家973计划基金资助项目（2011CB013306）；国家自然科学基金资助项目（51175106，61203346）；黑龙江省博士后基金资助项目 （）
