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題 名 | 兩點軟接觸之施力及施力矩分析=Analysis of Wrench Distribution for Two Soft Point Contacts |
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作 者 | 鐘文遠; | 書刊名 | 華岡工程學報 |
卷 期 | 13 1999.06[民88.06] |
頁 次 | 頁43-50 |
分類號 | 448.94 |
關鍵詞 | 兩點軟接觸; 施力; 施力矩; 機器手; |
語 文 | 中文(Chinese) |
中文摘要 | 機器手所抓取之物體能否靈活運動決定於接觸點之施力及施力矩分佈。以兩指 (如拇指及食指)抓取物體為人類之經常動作之一。本計畫針對兩指軟接觸之機器手系統的 施力及施力矩分佈加以解析。求得之解以防止滑動啟始為主要考量。施力及施力矩分佈的求 得分為兩階段。首先以平衡物重及移動物體所須之力及力矩為主,主要採用三個步驟:沿著 法線方向之施力的投影、沿著接觸點連線之力矩平衡、及殘餘力及力矩之平衡。求解過程同 時兼顧目標函數之特性以得到較佳之起始點。第二階段為最佳化,提出存在於系統中之兩組 交互力,以調整施力及施力矩而得到最佳分佈。此外,針對所定義之目標函數加以解析,可 加速最佳解之求得,甚至可不用數值方法以得到最佳之施力及施力矩分佈。 |
英文摘要 | In robot hand systems, the force and torque should be well distributed and applied by the fingers in order to grasp and manipulate the object dexterously. Human being usually use two fingers, the thumb and the index, to manipulate objects. In this work, the technique of finding distributed wrench, force and torque, for two fingers with soft surface are analyzed and developed. The primary concern in finding distributed wrench is to avoid the slippage between the fingers and the grasped object. Two stages are proposed to determine the distributed wrench. The first stage is to find the distributed wrench in order to equilibrate the weight and the wrench needed to move the object by using three steps. These steps are projected by considering normal contact forces only, in equilibrium with the torque along the direction connecting two contact points, and equilibrium with residual wrench. Further, the distributed wrench that was found in this stage would be a good initial point for the next stage. The second stage is the optimization. Two groups of interaction wrench are derived and used to modify the distributed wrench. Moreover, the objective function is analyzed so as to find the optimal solution effectively or even to do without the need of optimization process. |
本系統中英文摘要資訊取自各篇刊載內容。