新型灵巧手指驱传动方式的研究

Development of a Novel Driving Mode of Dexterous Finger

机械灵巧手指的驱传动方式是灵巧手设计的难点,目前常用的绳索滑轮方式存在着传递刚性不足等问题。设计了一种基于闭式链连杆机构的灵巧手指,可以有效地传递关节动力,而且能够提供刚性传递;分析了机构的自由度和运动学;分析了闭式链传动机构的零点设置对机构不定位形的影响,并进行了机构三维模型的建立和运动仿真;运动仿真结果表明机构在需要的工作空间下无干涉现象,运动性能良好。

Driving mode of finger's mechanism is one of difficulties of mechanical dexterous hand.The current mode of rope pulley has some disadvantages such as insufficient stiffness of dynamic transfer.A dexterous finger based on closed link mechanism is developed which can transfer the power knuckles need efficiently and provide stiff transfer.Degree of freedom and the kinematics are studied in detail.Mechanism's zero-point is analyzed and three-dimensional model and dynamic simulation of the mechanism is put up.The result indicates that in needful workspace no interference exists and the closed link mechanism works well.