排牙多指手結構設計抓取規(guī)劃及仿真.pdf

1、哈爾濱理工大學碩士學位論文排牙多指手結構設計抓取規(guī)劃及仿真姓名：趙燕江申請學位級別：碩士專業(yè)：機械電子工程指導教師：張永德20060301竺查耋矍二奎蘭：蘭竺圭蘭竺鎏蘭StructuralDesignGraspPlanandSimulationofToothArrangementMulti—fingeredHandAbstractWiththerapidadvancementoftechnologyrobothasbeendevelop

2、edandappliedinmanyfields，andiatricalrobotisallimportantdevelopingdirectionButiatricalrobothasseldombeenusedintootharrangementoffulldentureandalotofproblemsandshortagesareexistingInordertoadaptthecontinuouslydevelopingnee

3、dsofsocietyrobotoftootharrangementinfulldenturenotonlyneedstosatisfyhumanrequirementbutmakesthemanufacturingoffulldenturerealizethelevelofstandardization，automationandindustrializationwithhighqualityandhighefficiencyaswe

4、llThedevelopmentofrobotmanufacturingsystemforfulldentureisaboldattemptofrobottechnologyinoralcavityrepairingMultifingeredhand(dexteroushand)，asalastlinkandexecutorbetweenrobotandenvironment，isequivalenttoasetofrobotwhich

5、isfixedontheroboticarm，candodeliberateworkindependentlyItisarealpersonatedrobothandwhichisabletealizeagileoperationThisthesispresentsatootharrangementschemeusingamultifingeredhandbasedonMotomanUP6，andmakesastudyonstructu

6、re，graspandsimulationofthemultifingeredhandFirstofallthisthesismakesanaggregateanalysisonstructureofthemultifingeredhandandoptimallycalculatesthestructuralparameterofeachfingerwithamultipleobjectivefunctionBasedontheopti

7、malstructureofthemultifingeredhand，kinematicalfunctioniSestablishedandthenobverseandreversekinematicalsolutionsaregottenFurthermorethisthesisanalyzesthestructureofafingerandcalculatestheworkspaceofsinglefingerandthevisua