摘要
为了提高BHG-1型灵巧手的自适应性和拟人化,设计了一种欠驱动手指机构,以较少的驱动器数目获得较多的自由度,降低装置对控制系统的要求。采用拉格朗日方程建立了2自由度欠驱动手指的动力学模型,并利用Adams软件对其进行了动力学的仿真与分析。
An under-actuated finger mechanism is designed to obtain more DOFs with less actuator while maintaining good grasping function with shape adaptation, which reduces the control system requirements and enhances the adaptability and personification of the BHG-1 dexterous hand. A dynamic model of a 2-DOF under-actuated finger is built based on Lagrange equation and dynamical simulation and analysis are conducted in Adams software.
出处
《军民两用技术与产品》
2008年第4期44-46,共3页
Dual Use Technologies & Products
关键词
灵巧手
欠驱动
动力学
Dexterous hand, Under-actuated, Dynamic
