| 三指水下作业机械手运动学分析 |
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| 引用本文： | 王立权,李平,韩金华,孟庆鑫.三指水下作业机械手运动学分析[J].中国机械工程,2004,15(7):569-571. |
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| 作者姓名： | 王立权 李平 韩金华 孟庆鑫 |
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| 作者单位： | 哈尔滨工程大学机电工程学院,哈尔滨,150001 |
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| 基金项目： | 黑龙江省自然科学基金资助项目 (E0 10 5 ) |
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| 摘 要： | 介绍了一种结构优化设计方法。该方法从仿生学的角度对三指水下作业机械手手指结构进行了优化设计，在此基础上分析建立了三指水下作业机械手单个手指的运动学模型以及每个手指的雅可比矩阵，并对抓持状态下各手指的运动姿态进行了仿真分析。通过具体实验验证了运动学模型的正确性，为进一步研究机械手的轨迹规划、控制等问题提供了理论依据。
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| 关 键 词： | 结构优化设计 仿生学 三指水下作业机械手 运动学 |
| 文章编号： | 1004-132X(2004)07-0569-03 |
Analysis of Kinematics of 3-Finger Underwater Manipulator |
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| Wang Liquan Li Ping Han jinhua Meng QingxinHarbin Engineering University,Harbin.Analysis of Kinematics of 3-Finger Underwater Manipulator[J].China Mechanical Engineering,2004,15(7):569-571. |
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| Authors: | Wang Liquan Li Ping Han jinhua Meng QingxinHarbin Engineering University Harbin |
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| Affiliation: | Wang Liquan Li Ping Han jinhua Meng QingxinHarbin Engineering University,Harbin,150001 |
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| Abstract: | This paper introduced an optimal design method that can optimize the structures of 3-finger underwater manipulator in terms of bionics .It also built individual kinematics model and Jacobian matrix of every finger,and on the basis of these,the grasping motions were simulated. This paper proves the exactness of kinematics model by concrete experiments and provides the theoretical references for the further studies of underwater manipulator's trajectory planning and controls. |
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| Keywords: | optimal structural design bionics 3-finger underwater manipulator kinematics |
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