不依赖物体模型，仅用结构就能评估机械手捏合能力
A Kinematic Framework for Screening Candidate Pinch Configurations in Robotic Hand Design without Object or Contact Models
- 基于指尖可达空间的交互关系判断可实现的捏合配置
- 无需物体几何或接触力信息，适用于设计早期阶段
- 可对比不同结构手型的捏合性能，适合机器人手设计者
评估机械手的捏合能力对理解其操作灵巧性至关重要。然而，现有许多抓取评估方法依赖物体几何或接触力模型，限制了其在机械手设计早期的应用。本文提出一种基于指尖工作空间交互关系的运动学评估方法，用于分析机械手的捏合配置。首先从手指关节配置计算每个指尖的可达工作空间，然后通过评估指尖对之间的关系检测可行的捏合配置。由于该方法无需物体几何或接触力模型信息，仅依据机械结构即可评估捏合能力。此外，对四种不同手型的运动学结构进行了分析，研究其对捏合配置的影响。所提出的评估框架可作为设计阶段比较不同机械手方案和分析捏合性能的有力工具。
原文摘要 · Abstract (English)
Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability during the early stages of robotic hand design. This study proposes a kinematic evaluation method for analyzing pinch configurations of robotic hands based on interactions between fingertip workspaces. First, the reachable workspace of each fingertip is computed from the joint configurations of the fingers. Then, feasible pinch configurations are detected by evaluating the relationships between fingertip pairs. Since the proposed method does not require information about object geometry or contact force models, the pinch capability of a robotic hand can be evaluated solely based on its kinematic structure. In addition, analyses are performed on four different kinematic structures of the hand to investigate their impact on the pinch configurations. The proposed evaluation framework can serve as a useful tool for comparing different robotic hand designs and analyzing pinch capability during the design stage.
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