Enveloping grasp planning of the contact points is a challenging task in the field of robotics due to the complex constraints during grasp manipulation. In this paper, grasp stability analysis and optimal enveloping grasp planning of a deployable robotic hand (DRH) are studied. First, a method for computing the grasp stability evaluation index of the enveloping grasp is proposed based on the geometric analysis. Second, the effects of the friction coefficients and the deployment length of the DRH on the grasp stability of the enveloping grasp are analyzed and summarized. Third, an optimal enveloping grasp planning method is proposed to obtain the desired deployment length of the DRH and to achieve a firm grasp. Finally, the effectiveness and feasibility of the proposed optimal enveloping grasp planning method are validated through experiments.

由于在抓握操作期间存在复杂的约束，因此包围接触点的抓握计划在机器人领域是一项艰巨的任务。本文研究了可展开机械手（DRH）的抓握稳定性分析和最佳包络抓握计划。首先，提出了一种基于几何分析的包络抓地力抓地力稳定性评价指标的计算方法。其次，分析和总结了摩擦阻力系数和DRH的展开长度对包络抓地力的稳定性的影响。第三，提出了一种最优的包围式抓手计划方法，以获得所需的DRH部署长度并获得牢固的抓地力。最后，通过实验验证了所提出的最优包络把握计划方法的有效性和可行性。