一种欠驱动水下机器人手爪的作业能力研究

Study on the Manipulation Capacity of an Underactuated Underwater Robot Hand

在分析当前机器人手爪研究现状的基础上,根据水下作业任务特点,确定了作业型水下机器人多传感器手爪的设计需求,研究了水下手爪原理样机的作业能力,结合典型物体的抓取给出了关键参数关系.该样机可满足在指定环境下进行目标识别、抓取、简单装配、搬运等典型操作任务的要求,为操作型水下机器人多传感器手爪感知系统的研究提供了硬件平台.

Based on the analysis of the development of recent robotic hands and the characteristics of underwater tasks, this paper proposes the design requirements for the operating multi-sensor underwater robotic hand. The performance of the underwater robotic hands is also evaluated. Furthermore, the relationship between essential parameters of the robotic hand is formulated according to the robotic hand＇s grasp of a typical object. The prototype of the robotic hand can meet the requirements of such tasks as object recognition, object grasp, simple assembly and object handling, and provides a hardware platform for further research on the sensory systems of the operating multi-seiLsor underwater robotic hand.