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气动柔性五指机械手手指由自制的两种柔性关节通过连接盘串联组成。根据关节变形规律,在手指上选取特征点,通过齐次坐标变换建立了机械手手指的运动学模型。在柔性关节静力学实验的基础上,进行了柔性手指的运动学仿真,获得了机械手手指的工作空间。仿真结果表明,该柔性机械手具有较好的灵活性和较大的工作空间,通过手指间的协同配合可以完成抓、握和夹等动作。
Pneumatic Flexible Finger Five finger joints made by the two flexible joints made in series. According to the law of joint deformation, the feature points are selected on the finger, and the kinematic model of the finger of the manipulator is established by homogeneous coordinate transformation. Based on the flexible joint static experiment, the kinematic simulation of flexible finger was carried out and the working space of robot finger was obtained. The simulation results show that the flexible manipulator has better flexibility and larger working space, and the actions of grasping, grasping and clamping can be accomplished through coordination between the fingers.