人手抓取运动轨迹研究
Research on Hand Grasping Kinematic Trajectory

为更好的实现手部快速稳定抓取，避免虚拟环境中穿刺现象发生，以自动抓取思想为基础，将目标物体特征变量引入多指抓取进行运动轨迹的构建与验证。通过人手结构分析人指运动特征，提出了以目标物体尺寸和位置为变量的指尖运动轨迹模型；对手进行正逆向运动学分析求解，同时设定抓取规则保证抓取的稳定性；基于SolidWorks和MATLAB对指尖运动轨迹模型仿真分析，并通过抓取实例验证，仿真结果正确反映了人手抓取的特征，验证了该方法的有效性。
In order to better realize the efficiency of dexterous hand grasping and collision avoidance in virtual environment, the variables of objects are introduced to multi-fingered grasping, then the kinematic trajectory based on the idea of automatic grasping are established and verified. According to the structure of hand, the movement characteristics are analyzed, and the fingertip kinematic trajectory model with size and position of objects as variables is established. The forward and inverse kinematics analysis of hand is conducted and the grasping rule is set to ensure the stability of grasping. The fingertip kinematic trajectory is simulated based on SolidWorks and MATLAB. The correctness of simulation is verified by grasping experiments, the results of simulation reflect the character of hand grasping and demonstrate the effectiveness of the present method