关键词: 排爆机器人, 爆炸物, 多指手, 抓取能力, 姿态

Abstract:

In order to enhance the disposal ability of the used to replace the traditional gripper with single degree explosive disposal robot, a multifingered robotic hand is of freedom. As the grasping ability is greatly affected by the postures of the robot, the influences of the finger posture and the robot posture on the grasping ability of the multifingered robotic hand are discussed to seek the most favourable grasping mode. Moreover, the most favourable grasping posture of the robotic hand, namely the optimal joint angle, and the maximum grasping mass under different robot postures are investigated based on the screw theory and the BP neural network. Finally, the grasping ability of the muhifingered robotic hand under the constraint of grasp force is discussed to prevent explosives from exploding during the operation.

Key words: explosive disposal robot, explosive, muhifingered robotic hand, grasping ability, posture