CAJ | 학술논문

针对人手抓握多点接触的特点，提出了一种基于形封闭理论的五指手构型优化设计方法。根据抓握动作要求确定出五指手构型优化设计所需要的参数，并通过 J 判别函数方法判别多参数输入下五指手球形抓取和圆柱形抓取的形封闭性。引入范数域宽作为参数优化性能指标，采用区间迭代算法实现在满足形封闭前提下的五指手构型的可行区间最大化。以球形抓取为例，优化出了拇指指骨长度等5个重要参数的最佳设计结果。抓取仿真试验结果表明，优化后的参数范数域宽至少提高17%，显著提升了五指手稳定抓取的能力。
침대인수조악다점접촉적특점，제출료일충기우형봉폐이론적오지수구형우화설계방법。근거조악동작요구학정출오지수구형우화설계소수요적삼수，병통과 J 판별함수방법판별다삼수수입하오지수구형조취화원주형조취적형봉폐성。인입범수역관작위삼수우화성능지표，채용구간질대산법실현재만족형봉폐전제하적오지수구형적가행구간최대화。이구형조취위례，우화출료무지지골장도등5개중요삼수적최가설계결과。조취방진시험결과표명，우화후적삼수범수역관지소제고17%，현저제승료오지수은정조취적능력。
This paper presents an optimized design method for the five-finger hand configuration based on the form closure theory,considering the multi-point contact grasping characteristics of the human hand. Firstly,the necessa-ry parameters of the optimized design need to be confirmed according to the five-fingers grasping movement require-ments. And then a form-closure status is calculated with the J discriminant function for both the spherical grasp and the cylindrical grasp. Secondly,an interval iterative algorithm was used to achieve the feasible interval maximization of the parameters for the five-fingers on the premise of form closure,with the norm domain width being its parame-ters optimization performance indicator. Finally,the best design result of the most important 5 parameters of the five-finger hand was obtained from an example of the spherical grasp. Simulation results show that the performance indicator after optimization is 17% higher than the previous one,and the grasping stability of the five-finger hand is significantly improved.