【摘要】 本文对开端钢缆传动手指机构的力操作灵巧性问题进行研究 .首先 ,定义了钢缆张力椭球 .在此基础上 ,分析了手指机构力操作的位形灵巧性及钢缆传动结构对位形灵巧性的影响 .其次 ,根据钢缆张力空间与指端操作力空间之间的映射关系 ,给出了建立指端在给定操作位形处的操作力矢量集合的几何方法 .得到的矢量集合反映了考虑钢缆张力限制时 ,指端实际的力操作能力 .为评价指端实际的力操作灵巧性 ,还提出两个新的度量指标 .最后 ,给出了手指机构力操作灵巧性分析的示例更多还原

【Abstract】 This paper deals with the problem of force manipulation dexterity of finger mechanisms. First, the ellipsoid of tendon forces is defined, and based on this definition the configuration dexterity of force manipulation of finger mechanisms and the effect, which is caused by tendon transmissions, on configuration dexterity are analyzed. Secondly, in terms of the mapping relationship between the tendon force space and the fingertip mnaipulating force space, the geometric method to establish the sets of manipulating force vector of fingertip at any configuration of the finger is proposed. The sets can describe the force manipulation characteristics of finger mechanisms when the limits of tendon forces are considered. In order to evaluate the real force manipulating dexterity of the fingertip, two new quality measures are also presented. Finally, analytical examples of dexterity of the force manipulation of finger mechanisms are given.更多还原