上海交通大学学报

上海交通大学学报（自然版）

• 自动化技术、计算机技术 • 上一篇    下一篇

考虑曲面间2阶接触约束的抓取和夹持的完全约束性分析

罗晨，朱利民，丁汉
  

  1. （上海交通大学 机械与动力工程学院， 上海 200240）
  • 收稿日期:2010-02-26 修回日期:1900-01-01 出版日期:2011-02-28 发布日期:2011-02-28

Immobility Analysis Based on 2ndorder Contact Model

LUO Chen,ZHU Limin,DING Han
  

  1. (School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China)
  • Received:2010-02-26 Revised:1900-01-01 Online:2011-02-28 Published:2011-02-28

摘要： 通过对点-面有向距离函数的推广，定义了面面有向距离函数，分析了面面有向距离函数的微分性质，推导出面面有向距离函数的2阶泰勒展开式.在此基础上，定义了刚体B相对于多手指或夹具元A1,A2,…,Ak的2阶自由运动，指出2阶自由运动具有坐标变换不变性，以不存在2阶自由运动为条件定义了2阶完全约束条件，并提出了相应的代数判别准则.以4指完全约束四面体的仿真算例验证了该分析方法的有效性.

关键词: 形封闭, 机器人抓取, 完全约束性分析, 无摩擦接触

Abstract: Based on the signed distance function from point to surface, this paper defined the signed distance function from surface to surface, analyzed the first and second differential properties and derived its 2nd Taylor expansion. Then by using the theories of signed distance function, 1st and 2nd free motions were presented in order to describe rigid body B motion with respect to multiplefinger A1,A2,…Ak and the 1st and 2nd free motion have the feature of coordinate invariance. Based on the 1st and 2nd free motion, a new method was presented to analyze the immobility of multiplefinger grasps. Lastly, the simulation result of four fingers’ immobile grasp at a tetrahedral shows the validity of the method.