沈阳航空航天大学学报2026，Vol.43Issue(2)：43-48,6.DOI:10.3969/j.issn.2095-1248.2026.02.006
机器人手指抓取临界力问题的动力系统求解方法
The dynamical system method for solving the critical force problem of robotic finger grasping
摘要
Abstract
To ensure grasping stability,prevent object slippage,and avoid structural damage,three common grasping models were established for a three-fingered robotic hand,and the critical force during the robotic finger grasping process was accurately solved.In the case of the design of the robot hand and the ideal physical assumption of the object to be grasped,through the force analysis in mechanics,the constraints of the critical force of the robot finger grasping problem were obtained according to the static equilibrium equation,and the optimization model of the critical force of the robot finger grasping was further given.Firstly,the KKT condition was written according to the optimization model,and then the NR function was used to transform it into a smooth equation system,and the value function was further introduced to transform the KKT condition into an unconstrained optimization problem.The dynamic equation system was constructed,and the stability of the dynamic equation system was analyzed,and the relationship between the solution of the dynamic equation system and the solution of the optimization problem was used to solve the critical force problem of robot finger grasping.Finally,a numerical experiment was conducted to verify the effectiveness of the dynamical equation system method.关键词
抓取临界力/三指机器人/KKT条件/动力方程系统/稳定性Key words
grasping critical force/three-finger robot/KKT condition/dynamical equation system/stability分类
信息技术与安全科学引用本文复制引用
黄国林,孙菊贺,王莉,曹宁珊,马宁..机器人手指抓取临界力问题的动力系统求解方法[J].沈阳航空航天大学学报,2026,43(2):43-48,6.基金项目
国家自然科学基金(项目编号:52475482). （项目编号:52475482）
