摘要
根据欠驱动原理设计了一种用于拟人假肢手的新型欠驱动手指。通过静力学分析得到了手指抓取力的表达式以及影响因素。通过分析和仿真表明,该欠驱动手指结构简单,并具有很强的抓取形状自适应能力,抓取性能优异。这种设计和分析方法为拟人假肢手指的设计提供了一种新的思路。
In this paper, a new underactuated finger designed for prosthetic hand is introduced. The factors which affect the grasping forces are analyzed by the statics analysis. It is found that the underactuated finger has shape selfadaptation ability and excellent grasping ability with the simple mechanism. The result shows that the method discussed in this paper has great potential in prosthetic hand design.
出处
《机械设计与研究》
CSCD
北大核心
2008年第2期40-41,49,共3页
Machine Design And Research
基金
国家杰出青年科学基金资助项目(50225517)
上海市重点基础研究资助项目(50JC14027)
关键词
欠驱动机构
拟人假肢手
静力学分析
运动仿真
underzctuated mechanism
prosthetic hand
statics analysis
motion simulation
