基于势能图分析设计具有动态可变几何的欠驱动夹持器
机器人学
2026-01-30 v3
摘要
本文介绍了一种用于手内操作的能量图方法的扩展。能量图用于预测在给定夹持器特定驱动输入时，物体如何在抓取中演化。先前方法假设无摩擦接触，但我们解析地表明，在使用双连杆欠驱动手指时，通过理解物体-手指接触的演化，可将摩擦纳入能量图。这些基于摩擦的能量图被用于评估近 600 万次模拟抓取场景中各种腱-滑轮夹持器参数的重要性。具体而言，需要可变掌宽来操控不同尺度的物体，而需要可变传动比（即远端与近端滑轮半径之比）来将物体拉入笼式或维持指尖抓握。
引用
@article{arxiv.2203.07456,
title = {Designing Underactuated Graspers with Dynamically Variable Geometry Using Potential Energy Map Based Analysis},
author = {C. L. Yako and Shenli Yuan and J. Kenneth Salisbury},
journal= {arXiv preprint arXiv:2203.07456},
year = {2026}
}
备注
This is an updated version of my original paper (with the same title) published in IROS 2022. Parts of this work were refined or corrected in Chapter 3 of my dissertation, Good Vibrations: Toward Vibration-Based Robotic In-Hand Manipulation (DOI: 10.25740/mm182vq8220), and many of those changes have been incorporated here