Dynamic modeling method, system and device for three-finger dexterous hand and storage medium

A technology of mechanical modeling and dynamic modeling, applied in the field of robotics

Pending Publication Date: 2021-03-26
CHANGAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, and provide a three-finger dexterous hand dynamics modeling method, system, equipment and storage medium, which solves the dynamics problem of maintaining contact between the dexterous hand and the grasping object and the contact Accurate Modeling Problems of Force Models

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  • Dynamic modeling method, system and device for three-finger dexterous hand and storage medium
  • Dynamic modeling method, system and device for three-finger dexterous hand and storage medium
  • Dynamic modeling method, system and device for three-finger dexterous hand and storage medium

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Embodiment Construction

[0048] The present invention is described in further detail below in conjunction with accompanying drawing:

[0049] figure 1 Shown is the schematic diagram of the three-finger dexterous hand system, where O o -X o Y o Z o , O B -X B Y B Z B are the coordinate systems fixed on the palm plane and the grasping object respectively, B 1 , B 2 , B 3 Bases for the three fingers, respectively, C 1 、C 2 、C 3 are respectively the contact points of the three fingers with the grasped object. Each finger includes three phalanxes, which are proximal phalanx 1, middle phalanx 2, and distal phalanx 3 from far away from grasping objects to close to grasping objects.

[0050] figure 2 Shown is a schematic diagram of a single-finger subsystem, where i=1, 2, 3 represent the i-th finger, O Bi -X Bi Y Bi Z Bi is the coordinate system fixed to the i-th finger base, q i1 ,q i2 ,q i3 ,q i4 Indicates the rotation angle of the four joints of the finger, l i1 , l i2 , l i3 is ...

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Abstract

The invention discloses a dynamic modeling method, system and device for a three-finger dexterous hand and a storage medium. A three-finger dexterous hand system serves as a complex mechanical system;according to the constraint conditions of the dexterous hand and a grabbed object, the three-finger dexterous hand and the grabbed object are divided into three finger sub-models of an open type kinematic chain structure and one grabbed object sub-model, and the four independent sub-models serve as four subsystems; a constraint equation of the finger subsystem and the grabbed object is created. four subsystems are gathered to obtain an analytical model of the three-finger dexterous hand kinetic model; a kinetic model of the dexterous hand is created in the working space and the joint space based on a UK equation; a contact constraining force relationship is created between the working space and the joint space; and a dexterous hand contact force analytical model is created in the workingspace. The dynamic problem of keeping contact between the dexterous hand and a grabbed object and the accurate modeling problem of a contact force model are solved.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a three-finger dexterous hand dynamics modeling method, system, equipment and storage medium. Background technique [0002] As an anthropomorphic end-effector of a robot, the three-fingered dexterous hand has the characteristics of high flexibility, diverse operation modes and strong applicability, and can replace human hands in high-precision and high-risk fields such as medical rehabilitation, aerospace, and disaster relief. Complete fine work tasks, has a wide range of application value. [0003] The dexterous hand is a mechanism composed of multiple fingers with an open kinematic chain structure. It has many joints and complex kinematic chains. It is a complex nonlinear dynamic system, which makes its dynamic modeling process complicated and cumbersome. Specifically: the structural optimization of the dexterous hand and the high integration of sensors in the structural design have greatl...

Claims

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Application Information

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IPC IPC(8): G06F30/20G06F30/17G06F17/11G06F111/04G06F119/14
CPCG06F30/20G06F30/17G06F17/11G06F2111/04G06F2119/14Y02T90/00
Inventor 惠记庄来港赵睿英丁凯张红俊
Owner CHANGAN UNIV
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