摘要
分析了人手的结构和抓物方式,根据欠驱动和耦合原理研制了仿人型残疾人假手,该手尺寸和成年人手大小相仿,且结构简单,重量轻,高度集成化。利用Matlab软件优化设计了手指各杆件参数,进行了运动学分析。实验证明:该假手具有很好的抓取自适应性,能进行力量抓取和精确抓取。
The structure and the grasping method of human hands are analyzed. Based on underactuation and coupling mechanism, a new prosthetic hand has been developed, featuring simple structure, light weight and high integration. Its size is similar with that of an adult＇ s hand. The parameters of the fingers＇ bars have been optimally designed with the help of Matlab and a kinematic analysis has been carried out. The experiments have shown that this hand has an excellent self adaptability in grasping and both power grasp and precision grasp can be accomplished.
出处
《机械制造》
2007年第10期19-22,共4页
Machinery
基金
国家自然科学基金重点资助项目(编号:50435040)
关键词
仿人型假手
欠驱动
耦合
自适应性
Prosthetic Hand Underactuation Coupling Adaptability
