Investigation into the Ability of Multi-Fingered Dexterous Hand to Grasp an Explosive

doi:10.3969/j.issn.1000-565X.2015.07.017

Journal of South China University of Technology (Natural Science Edition) ›› 2015, Vol. 43 ›› Issue (7): 124-129.doi: 10.3969/j.issn.1000-565X.2015.07.017

• Mechanical Engineering • Previous Articles Next Articles

Investigation into the Ability of Multi-Fingered Dexterous Hand to Grasp an Explosive

Mo Hai-jun Lin Zhi-sheng

School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, Guangdong, China

Received:2014-12-08 Revised:2015-01-23 Online:2015-07-25 Published:2015-06-03
Contact: 莫海军( 1966-) ，男，博士，副教授，主要从事机器人多指手抓取及排爆机器人研究． E-mail:mohj@scut.edu.cn
About author:莫海军( 1966-) ，男，博士，副教授，主要从事机器人多指手抓取及排爆机器人研究．
Supported by:
Supported by the National Natural Science Foundation of China( 51175182)

Abstract

Abstract: On the basis of the force screw theory, the relationship between the grasp matrix of multi-fingered dexterous 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.

Key words: multi-fingered dexterous hand, grasp ability, neural networks, explosive

CLC Number:

TP242

Mo Hai-jun Lin Zhi-sheng.

Investigation into the Ability of Multi-Fingered Dexterous Hand to Grasp an Explosive

[J]. Journal of South China University of Technology (Natural Science Edition), 2015, 43(7): 124-129.

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Investigation into the Ability of Multi-Fingered Dexterous Hand to Grasp an Explosive

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