项目成果宣传材料.docVIP

本项目由北京航空航天大学与意大利卡西诺大学合作，分别进行基础理论与技术研究和实验分析与灵巧手的实验平台的开发。 本项目主要进行欠驱动多指灵巧手机构综合方法、稳定抓持理论、混杂非完整约束系统分析、运动规划与控制技术的理论和实验研究。在欠驱动手指机构设计、抓持动态稳定性分析方法、稳定抓持运动规划方法、混杂非完整约束系统运动规划与鲁棒控制等方面获得了技术突破，并围绕相关关键技术进行了较为充分的实验研究，研制完成三指欠驱动灵巧手(如图1)和四指欠驱动灵巧手两种科学实验平台(如图2)。本项目获得的部分技术被推广用于低成本高可靠性工业机器人的研发。研制完成了铝电解阳极炭块清理机器人工作站(如图3所示)，并被国内多家铝电解企业采用，为企业节约生产成本1000余万元/年/套。 通过本项目研究，双方联合培养博士研究生3名。本项目组在国内外期刊发表论文44篇，其中国际期刊10篇，SCI收录12篇，EI收录22篇。申报国家发明专利9项，已经授权发明专利6项。由机械工业出版社和科学出版社分别出版《冗余自由度机器人原理与应用》、《动态微电机系统——理论与应用》专著两部。 This item is a joint project between of Beihang University (BUAA), and University of Cassino in Italy. The two sides carry out respectively basic theoretical and experimental research, and development of technology platforms and experimental analysis for the underactuated dexterous hand. The project mainly due to drive a synthesis approach to multi-fingered under actuated dexterous hand mechanism, stable grasping, the analysis of hybrid nonholonomic system, theoretical and experimental studies motion planning and control technology. Researchers make a breakthrough in the under-actuated finger mechanism design, dynamic grasp stability analysis, stable grasping motion planning method, hybrid nonholonomic motion planning and robust control systems, and other aspects. Around key technologies for a more adequate experimental study, completed development of three-finger underactuated dexterous hand (Figure 1) and the four-fingers underactuated dexterous hands (Figure 2).. Some technology of the project result is to promote research and development of low cost and high reliability for industrial robots. Development completed the electrolytic anode carbon block cleanup robot workstation (Figure 3), and was electrolytic domestic enterprises to adopt, production cost savings for businesses of more than ten million / year / set. 图1 北京航空航天大学开发完成的三指欠驱动灵巧手 图2 北京航空航天大学开发完成的四指欠驱动灵巧手 图3铝电解阳极炭块清理欠驱动机器人工作站