残疾人假手的仿人和欠驱动机构研究

Study on the apery and drive lacking mechanism for artificial hand of disabled person

根据欠驱动和耦合原理研制出了仿人型残疾人假手,该手结构简单,质量轻,高度集成化,与成年人手的大小相仿,用M atlab软件优化设计了手指各杆件参数,同时进行了运动学分析。该假手对不同物体抓取具有自适应性,能进行力量抓取和精确抓取。

The apery typed artificial hand of disabled person was developed on the basis of principles of drive lacking and coupling. The structures of this hand are simple, light weighted, highly integrated and similar to the hand size of an adult. Parameters of each bar member of fingers were designed optimally by the use of Matlab software, and the dynamics analysis was carried out at the same time. This artificial hand has self-adaptability on the grabbing of different objects, and could conduct both force grabbing and precision grabbing.