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人手抓取运动轨迹研究

陶俐言 蒋昕洁

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. doi: 10.13433/j.cnki.1003-8728.2017.0906
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, 2017, 36(9): 1345-1350. doi: 10.13433/j.cnki.1003-8728.2017.0906
Tao Liyan, Jiang Xinjie. Research on Hand Grasping Kinematic Trajectory[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(9): 1345-1350. doi: 10.13433/j.cnki.1003-8728.2017.0906
Citation: Tao Liyan, Jiang Xinjie. Research on Hand Grasping Kinematic Trajectory[J]. Mechanical Science and Technology for Aerospace Engineering, 2017, 36(9): 1345-1350. doi: 10.13433/j.cnki.1003-8728.2017.0906

人手抓取运动轨迹研究

doi: 10.13433/j.cnki.1003-8728.2017.0906
详细信息
    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

Research on Hand Grasping Kinematic Trajectory

  • 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。
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出版历程
  • 收稿日期:  2016-08-14
  • 刊出日期:  2017-09-05

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