机械科学与技术2017，Vol.36Issue(9)：1345-1350,6.DOI:10.13433/j.cnki.1003-8728.2017.0906
人手抓取运动轨迹研究
Research on Hand Grasping Kinematic Trajectory
陶俐言 1蒋昕洁1
作者信息
- 1. 杭州电子科技大学工业工程与管理研究所,杭州310018
- 折叠
摘要
Abstract
In order to better realize the efficiency of dexterous hand grasping and collision avoidance in virtual environment,the variables of objects are introduced to multi-fingered grasping,then the kinematic trajectory based on the idea of automatic grasping are established and verified.According to the structure of hand,the movement characteristics are analyzed,and the fingertip kinematic trajectory model with size and position of objects as variables is established.The forward and inverse kinematics analysis of hand is conducted and the grasping rule is set to ensure the stability of grasping.The fingertip kinematic trajectory is simulated based on SolidWorks and MATLAB.The correctness of simulation is verified by grasping experiments,the results of simulation reflect the character of hand grasping and demonstrate the effectiveness of the present method.关键词
虚拟环境/运动轨迹/抓取规则/SolidWorks/MATLABKey words
virtual environment/kinematic trajectory/grasping rule/SolidWorks/MATLAB分类
机械制造引用本文复制引用
陶俐言,蒋昕洁..人手抓取运动轨迹研究[J].机械科学与技术,2017,36(9):1345-1350,6.
