复合驱动双指柔性机械手的设计与控制

吴全会,邵旭辉,潘柏松,施罗杰

Design and control of compound driven two-finger flexible manipulator

Quan-hui WU,Xu-hui SHAO,Bai-song PAN,Luo-jie SHI

表 1 微调偏差运动状态参数

Tab.1 Fine-tuning deviation motion state parameters

${\alpha _0}/(^\circ )$ $R/{\rm{mm}}$ ${Y_{PP'} }/{\rm{mm}}$ $P_y'/{\rm{mm}}$ ${\alpha _1}/(^\circ )$ $\alpha _1'/(^\circ )$ $\alpha _3'/(^\circ )$ 55 50 0.466 97.291 51.61 45.14 59.03 60 50 0.363 101.272 40.92 35.00 47.52 65 50 0.295 104.277 30.73 25.26 36.74 65 55 0.414 103.221 37.05 30.93 44.05 65 60 0.947 100.389 45.58 38.23 55.73