A New Method for Analyzing Kinematic Feasibility of Multi-fingered Grasping

Abstract

Abstract:

A unified computational framework for the kinematic feasibility analysis of grasping was proposed.The kinematics of multi-fingered hand was deduced;the transition of grasping-element’s equation between different coordinate-systems was analyzed;and the detection of the relationship between two 3D outer surfaces was then analyzed in 2D space;the detecting algorithm and rules were given herein.An example was given to validate the method. 

Key words: multi-fingered hand, grasping, contact, kinematic feasibility

摘要：

基于对多指手运动学、物体和多指手外表面方程的分析,提出了一种判定多指手抓取运动学可行性的新方法。通过选择合理的剖分方式,将三维空间问题转换到二维空间中分析,进而推导了判定抓取干涉的算法,提出了相应的判定准则,最后通过算例验证了所提方法的正确性和有效性。该方法具有通用性较好、计算效率较高的特点,可用于分析不规则形状手指和手掌抓取任意表面形状的物体的可行性问题。

关键词:

多指手, 抓取, 接触, 运动学可行性

CLC Number:

TP242

LIU Yu-Wang, ZHOU Wei-Jia, WANG Hong-Guang.

A New Method for Analyzing Kinematic Feasibility of Multi-fingered Grasping

[J]. China Mechanical Engineering, 2010, 21(13): 1541-1547.

刘玉旺, 周维佳, 王洪光.

一种多指抓取运动学可行性分析方法

[J]. 中国机械工程, 2010, 21(13): 1541-1547.

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