摘要
为了使机械手灵巧、稳妥地抓取物体,设计了一种新型结构的单电机驱动4指12关节机械手爪.该手爪由电机驱动一根十字连杆,其端部分别连接4个手指的第1动力连杆;每个手指有3个指节,由2个平行四边形的指节结构确保手指末端做平移运动;每个手指的第2动力连杆具有延伸滑槽,当第2动力连杆运动时,经过特别设计的滑槽在固定支点滑动,可使手指末端匀速运动.该新型的单电机驱动手爪设计方案实现了机械手控制简单、抓握可靠的目的.
In order to grasp objects dexterously and stably by robot, this paper proposes a new structure for four-fingered and twelve-joint gripper based on single motor driving. The motor drives a cross-linkage, whose terminal connects the first power rod of each finger. Every finger has three joints, and two knuckles each with a parallelogram structure ensure the translational motion of fingertip. The second power rod of each finger has a prolonged chute, and the specially designed chute shifts around a fixed fulcrum to realize the fingertip uniform motion while the second power rod moves. The new design scheme of the single motor driven gripper is of simple control and solid grasp.
出处
《机器人》
EI
CSCD
北大核心
2009年第6期620-624,共5页
Robot
基金
国家自然科学基金资助项目(60874102)
国家863计划资助项目(2008AA04Z212)
关键词
机器人手爪
多指多关节
单电机驱动
robotic gripper
multi-fingered and multi-joint
single motor driving