机器人臂/手仿真系统操作物体的研究

作者：燕兰泉，周思跃 日期：2009-06-17/span> 浏览：3853 查看PDF文档

机器人臂/手仿真系统操作物体的研究

燕兰泉，周思跃
(上海大学 机电工程与自动化学院 上海 200072)

摘要：为了研究机器人臂/手仿真系统对物体的操作，首先对机器人臂/手系统和物体进行了运动学建模，然后利用建好的机器人臂/手仿真系统，基于机器人臂/手系统的运动学、静力学，实现了右手拿杯倒水、手指拧、斜抛球等操作，最后探讨了机器人臂/手操作物体时，机器人臂关节力矩对灵巧手指端力的影响。实验结果表明，该模型具有建模方便、适用于大部分机器人臂/手系统和利于计算机求解等特点。
关键词：机器人臂/手系统；臂/手的操作；运动学；静力学
中图分类号：TP242.61文献标识码：A文章编号：1001-4551(2009)05-0004-05

Object operations based on robot arm/hand simulation system
YAN Lanquan, ZHOU Siyue
(College of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China)
Abstract: To researching into object operations based on robot arm/hand simulation system, a kinematics model was firstly built. Then by using the robot arm/hand simulation system, which based on the robot arm / hand system kinematics and the statics, some object operations were completed, such as grasping a cup and pouring the water by the right hand, screwing object by finger and throwing the ball obliguely. Finally, the forces on the fingertips influenced by robot arm joint torque when robot arm / hand system operated the object were also discussed. The experimental results show that the model is convenient, it is suit for robot arm/hand system, and it is in favor of computer solution.
Key words: robot arm/hand system; operation of arm/hand; kinematics; statics
参考文献(References):
［1］林晋,柳长安,吴克河,等.机器人仿真通用试验平台的设计与实现［J］.计算机应用研究,2003(10):138-140.
［2］MILLER A T， ALLEN P K. Graspit! a versatile simulator for robotic grasping ［J］. Robotices & Automation Magazine,2004，11（4）:110-122.
［3］朱广超，王田苗，丑武胜，等.面向遥操作的机器人臂/手集成系统图形仿真［J］.高技术通讯,2001,6(1):59-62.
［4］朱广超,游松,刘毅敏,等.机器人臂/手集成系统的图形仿真及其在遥控操作中的应用［J］.系统仿真学报,2000,12(6):671-674.
［5］朱勇,周思跃.机器人臂/手仿真系统的建模与实现［D］.上海:上海大学机电工程与自动化学院,2008.
［6］朱勇,周思跃.机器人臂/手系统动力学建模研究［J］.机械与电子,2008(3):60-63.
［7］李吉星，赵江南.基础物理教程［M］.武汉：武汉大学出版社,1999.