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浙江理工大学虚拟现实实验室简介
杨文珍
    杨文珍,男,博士,教授,机械设计及理论专业硕导,控制工程专业硕导,计算机应用技术专业硕导。浙江大学机械设计及理论专业硕士,浙江大学CAD&CG国家重点实验室计算机科学与技术专业博士,浙江大学控制科学与工程流动站博士后出站,美国乔治梅森大学访问学者。
长期致力于人机交互、机器人和虚拟现实领域的研究,在盲文点显器、计算机触觉、计算机嗅觉、灵巧机械手、运动健康等方面,形成了研究特色。
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2015 论文SCI Workspace Modeling and Analysis for Dexterous Hands
时间:2015-03-11 11:57:16    浏览次数:1532        

Workspace Modeling and Analysis for Dexterous Hands

International Journal of Humanoid Robotics  Volume 12, Issue 01, March 2015 (doi: 10.1142/S0219843615500061)

The workspace is a fundamental feature for a dexterous hand to grasping plan, motion control, and mechanical design. Although the graphic, numerical, or analytical methods are valid to generate the workspace of dexterous hands, but there exist several defects for these methods to describe the workspace characteristics, such as forms, boundaries, volumes, and intersection workspaces. We propose a combined modeling approach to visualize and analyze the workspace of YWZ dexterous hand, which has 5 fingers, 20 degrees of freedom (Dofs). The proposed approach is also fit for similar dexterous hands to generate their precise workspaces. After a brief mechanism introduction of YWZ dexterous hand, a displacement equation of its index finger is deduced to calculate the fingertip positions in three-dimension (3D) Euclidean space. Then, a two-dimension (2D) boundary figure enclosing the flexion-extension motion field of the finger is drawn by the displacement equation. Taking this boundary figure as a sketch in a CAD modeling environment, we further model a vivid 3D finger workspace, which is relative with the abduction-adduction motion of the finger. Besides, we generate the whole workspace of YWZ dexterous hand and analyze its volumes and intersection workspaces. The kinematic simulations and physical prototype experimentations are carried out to validate this approach can construct perfect workspace of dexterous hands. Compared with the Monte Carlo method, the form and boundary of the 3D finger workspace generated by our proposed approach have more accurate, integrated, vivid, and intuitional.

Keywords: Workspace; Dexterous hands; Numerical methods; Kinematic simulations.

http://www.worldscientific.com/doi/abs/10.1142/S0219843615500061


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