华南理工大学学报（自然科学版）
華南理工大學學報（自然科學版）
화남리공대학학보（자연과학판）
Journal of South China University of Technology (Natural Science Edition)
2015年
7期
124-129
,共6页
机器人多指手%抓取能力%神经网络%爆炸物
機器人多指手%抓取能力%神經網絡%爆炸物
궤기인다지수%조취능력%신경망락%폭작물
multi-fingered dexterous hand%grasp ability%neural networks%explosive
应用力螺旋理论建立了多指手抓取矩阵与外力螺旋之间的关系，对多指手抓取爆炸物能力进行研究。首先建立多指手抓取爆炸物的力学模型，确定影响抓取的参数；然后以最大抓取重量为目标函数，建立满足力封闭约束条件下的抓取数学模型，并采用神经网络和优化方法对多指手抓取爆炸物进行了仿真，研究多指手不同抓取位置与爆炸物重量之间的对应关系，获得了多指手抓取爆炸物时最有利的抓取位置。
應用力螺鏇理論建立瞭多指手抓取矩陣與外力螺鏇之間的關繫，對多指手抓取爆炸物能力進行研究。首先建立多指手抓取爆炸物的力學模型，確定影響抓取的參數；然後以最大抓取重量為目標函數，建立滿足力封閉約束條件下的抓取數學模型，併採用神經網絡和優化方法對多指手抓取爆炸物進行瞭倣真，研究多指手不同抓取位置與爆炸物重量之間的對應關繫，穫得瞭多指手抓取爆炸物時最有利的抓取位置。
응용력라선이론건립료다지수조취구진여외력라선지간적관계，대다지수조취폭작물능력진행연구。수선건립다지수조취폭작물적역학모형，학정영향조취적삼수；연후이최대조취중량위목표함수，건립만족력봉폐약속조건하적조취수학모형，병채용신경망락화우화방법대다지수조취폭작물진행료방진，연구다지수불동조취위치여폭작물중량지간적대응관계，획득료다지수조취폭작물시최유리적조취위치。
On the basis of the force screw theory , the relationship between the grasp matrix of multi-fingered dexter-ous 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 .
