【摘要】 对气动人工肌肉驱动的五指仿人灵巧手进行了运动学及动力学分析.在Matlab上进行了仿真计算,建立了灵巧手的运动学模型并求得其解析解;同时用Newton-Euler方法对灵巧手进行了逆动力学分析,得出了灵巧手的动力学方程.通过基于灵巧手动力学模型和气动人工肌肉静态模型的主从控制实验,结果表明,可以通过数据手套采集关节的角度变化信息控制灵巧手完成抓取物体的动作.更多还原

【Abstract】 Analysis of kinematics and dynamics of a dexterous hand are implemented and simulated on Matlab.Kinematic model of the dexterous hand is established and solved.The inverse dynamics of the dexterous hand is analyzed based on the Newton-Euler method and its results are achieved.Based on the dynamics of the dexterous hand and the static model of PMAs,the system implements its master-slave control.It showed grasping of objects by the dexterous hand.更多还原