Patent ID: 11969891
Assignee: YANSHAN UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 16:
17. The trajectory tracking control method for a 4D printed gripper with flexible finger joints according to claim 16, wherein the establishing a dynamic model of a finger unit specifically comprises:
establishing a global reference coordinate system along a horizontal plane on which a metacarpal bone of a palm unit is located and a direction perpendicular to the horizontal plane, and constructing a dynamic model of a phalanx;
establishing a natural coordinate system along a neutral curve of each flexible finger joint, and constructing a dynamic model of the flexible finger joint;
determining a coordinate transformation matrix between the global reference coordinate system and the natural coordinate system;
determining a position expression of each phalanx and a velocity expression of each phalanx based on the global reference coordinate system;
obtaining a position expression of a corresponding flexible finger joint and a velocity expression of the corresponding flexible finger joint according to the coordinate transformation matrix, the position expression of each phalanx, and the velocity expression of each phalanx;
determining kinetic energy Ek and potential energy Ep corresponding to each finger unit according to the position expression of each flexible finger joint and the velocity expression of the corresponding flexible finger joint;
calculating a Laplace function of each finger unit based on the kinetic energy and the potential energy corresponding to each finger unit by using a formula L=Ek−Ep; and
obtaining a dynamic model of each finger unit with the flexible finger joints according to the Laplace function of the finger unit.