机械手夹持接触力及力封闭分析-中南大学学报.PDF

40 6 () Vol.40 No.6 2009 12 Journal of Central South University (Science and Technology) Dec. 2009 ( 410083) V V V V TP24 A 1672−7207(2009)06−1580−07 Analysis of gripping contact force and force-closure of manipulator WU Yong-hong, LI Qun-ming (Key Laboratory of Design for Modern Complex Equipment and Extreme Manufacturing Ministry of Education, Central South University, Changsha 410083, China) Abstract: In order to reasonably ascertain grasping force of manipulator while stably grasping, the contact force between V style finger tip and object due to the pre-tighten force was calculated based on the line contact theory, and the change of the contact force with the finger tip on the different positions was analyzed. The grasping force of the V style finger tip was calculated based on the contact force. The contact model of the finger tip and object was established based on the force spiral theory. The relation between external force and the contact force with stably grasping was analyzed by using force closure principle, and the method for calculating the stability of grasping was founded. The contact force and grasping force of one grasping instance were calculated. The results show that the grasping force and the stability of the V style finger tip can be accurately calculated, and the reliable value of the parameters can be supplied for the design of the manipulator and its control system. Key words: V-style finger; contact force; grasping force; force spiral; force-closure grasp