Method for optimizing thumb parameters of human simulation multi-fingered dexterous hands

Abstract

The invention discloses a method for optimizing thumb parameters of human simulation multi-fingered dexterous hands, and belongs to the field of technologies for optimizing parameters of human simulation multi-fingered dexterous hands. A thumb of each human simulation multi-fingered dexterous hand and one of fingers of the human simulation multi-fingered dexterous hand can move to reach the same grabbing plane. The method is related to the degrees of 'opening and closing' freedom of first and second knuckles of the thumbs and the degrees of 'opening and closing' freedom of three knuckles of the corresponding finger 'which can move to the same grabbing plane' with each thumb. The method includes steps of firstly, establishing plane schematic diagrams; secondly, analyzing geometrical relations in the plane schematic diagrams, establishing functional relational expressions of r and l<0>, solving extreme values of a function f(r, l<0>)=0, and selecting the maximum values r among various extreme value points; thirdly, solving included angles theta between the l<0> and l<6>; fourthly, determining location and size parameters of the thumbs of the human simulation multi-fingered dexteroushands. Each plane schematic diagram shows that grabbed cylindrical objects can be 'exactly' completely enveloped by the corresponding thumb and the corresponding finger on the same corresponding grabbing plane. The l<0> corresponding to the maximum values r is one of the optimized thumb parameters. The method has the advantage that the optimal size ranges of the grabbed objects can be obtained bythe human simulation multi-fingered dexterous hands by the aid of the method.

Description

technical field [0001] The invention belongs to the technical field of parameter optimization of a human-like multi-fingered dexterous hand, and provides a method for optimizing the thumb position and size parameters of a human-like multi-fingered dexterous hand. Background technique [0002] Bionic robots are the product of the combination of bionics and robots based on practical application requirements. They are an important branch of the development of intelligent robots, specifically referring to robots that can simulate biological characteristics and realize various biological functions. One of the popular research contents is humanoid multifunctional Refers to dexterous hands. With the rapid development of intelligent robot technology, the application fields of robots are becoming wider and wider, and the forms and contents of operations are becoming more and more complex. Therefore, higher requirements are put forward for robot end effectors, and the research on huma...

AI Technical Summary

Problems solved by technology

However, most researchers focus on the flexibility and diversity of dexterous hand grasping (realized by designing the structure and degrees of freedom of the thumb), and few studies have been conducted on the relationship between the parameters of the thumb and the range of envelope grasping objects.

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