一种灵巧手指并联机构的运动学解算方法、装置及电子设备
By using the kinematic solution method of the parallel mechanism of the index finger of the robot dexterous hand, and by utilizing structural symmetry and inverse kinematics calculation and iterative update of the Jacobian matrix, the modeling difficulties of replacing the ball hinge with the cross hinge are solved, high-precision motion control is achieved, and the control accuracy and response efficiency of the robot dexterous hand are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING YUANLUO TECHNOLOGY CO LTD
- Filing Date
- 2026-05-09
- Publication Date
- 2026-07-17
AI Technical Summary
In existing technologies, when replacing ball hinges with cross hinges with two non-intersecting axes in the parallel mechanism of the index finger of a robot's dexterous hand, traditional analytical solution methods suffer from difficulties in modeling, cumbersome derivation, and poor adaptability, making it difficult to meet the requirements of high-precision motion control.
A kinematic solution method for a dexterous finger parallel mechanism is adopted. By obtaining the length of the target driving rod, preprocessing is performed using structural symmetry, and the joint angle guess values are initialized. Combining inverse kinematics calculation, Jacobian matrix and error vector, the error vector is constructed by iteratively updating the Jacobian matrix and the joint angle until the preset convergence condition is met, and the forward kinematic solution is output.
A high-precision forward kinematic solution was achieved for the parallel mechanism configuration after replacing the ball hinge with a cross hinge with two non-intersecting axes. It has a good success rate and computational stability, and the computational accuracy can reach the micrometer level, which improves the control accuracy and response efficiency of the robot's dexterous hand index finger.
Smart Images
Figure CN122165436B_ABST