Investigation into the ability of multi-fingered dexterous hand to grasp an explosive

被引：0

作者：

Mo, Hai-Jun ^{[1
]}

Lin, Zhi-Sheng ^{[1
]}

机构：

[1] School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, 510640, Guangdong

来源：

Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science) | 2015年 / 43卷 / 07期

基金：

中国国家自然科学基金;

关键词：

Explosive; Grasp ability; Multi-fingered dexterous hand; Neural networks;

D O I：

10.3969/j.issn.1000-565X.2015.07.017

中图分类号：

学科分类号：

摘要：

On the basis of the force screw theory, the relationship between the grasp matrix of multi-fingered dexterous hand and the external force screw is established to investigate the ability of multi-fingered dexterous hand to grasp an explosive. Firstly, a mechanical model of multi-fingered dexterous hand which can grasp an explosive is constructed and the parameters influencing the grasp are determined. Then, with the maximum grasp being the goal, a mathematical model of the grasp is constructed under the constraint of force closure. Finally, through the neural network and optimization methods, the multi-fingered dexterous hand grasping an explosive is simulated, so as to reveal corresponding the relationship between the grasp position and the explosive weight. Thus, the best grasp position is obtained. ©, 2015, South China University of Technology. All right reserved.

引用

页码：124 / 129

页数：5