【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。更多还原

【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.更多还原