机械动力学:2017,Vol:36,Issue(9):1345-1350
引用本文:
陶俐言, 蒋昕洁. 人手抓取运动轨迹研究[J]. 机械科学与技术
Tao Liyan, Jiang Xinjie. Research on Hand Grasping Kinematic Trajectory[J]. Journal Of Remote Sensing

人手抓取运动轨迹研究
陶俐言, 蒋昕洁
杭州电子科技大学工业工程与管理研究所, 杭州 310018
摘要:
为更好的实现手部快速稳定抓取,避免虚拟环境中穿刺现象发生,以自动抓取思想为基础,将目标物体特征变量引入多指抓取进行运动轨迹的构建与验证。通过人手结构分析人指运动特征,提出了以目标物体尺寸和位置为变量的指尖运动轨迹模型;对手进行正逆向运动学分析求解,同时设定抓取规则保证抓取的稳定性;基于SolidWorks和MATLAB对指尖运动轨迹模型仿真分析,并通过抓取实例验证,仿真结果正确反映了人手抓取的特征,验证了该方法的有效性。
关键词:    虚拟环境    运动轨迹    抓取规则    SolidWorks    MATLAB   
Research on Hand Grasping Kinematic Trajectory
Tao Liyan, Jiang Xinjie
Institute of Industrial Engineering and Management, Hangzhou Dianzi University, Hangzhou 310018, China
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.
Key words:    virtual environment    kinematic trajectory    grasping rule    SolidWorks    MATLAB   
收稿日期: 2016-08-14     修回日期:
DOI: 10.13433/j.cnki.1003-8728.2017.0906
通讯作者:     Email:
作者简介: 陶俐言(1963-),教授,博士,研究方向为数字化制造、工业工程等,lytao@hdu.edu.cn
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