一种新型欠驱动拟人机械手的设计

Design of a Naw Underactuated Prosthetic Hand

设计了一种新型的高欠驱动集成化拟人机械手。仿人假肢手由4个电机驱动15个关节,其中食指和中指由一个电机通过安装在掌部的小型齿轮齿条差动机构驱动,无名指和小指分别由一个电机各通过一个安装在掌部的小型齿轮齿条差动机构驱动,拇指由两个独立电机驱动。手指采用了弹性交叉四连杆机构实现欠驱动控制,该手对于不同的抓取物体具有良好的形状适应性,且在部分手指运动受限的情况下具确理想的力分配特性。实验结果表明,该仿人假肢手可在肌电控制接口的控制下实现仿人灵巧操作。

A prototype of underactuated prosthetic hand is designed and developed. The hand has 15 revolute joints, actuated by 4 motors. The first finger arid the middle finger of the hand are actuated by one motor. A miniature differential mechanism is embedded inside the palm of the hand to control the differential motion of the two fingers. An- other one motor and differential mechanism is used to actuate the ring finger and the little finger. The thumb of the hand is actuated by two independent motors, which control the rotation and flexure of the thumb, respectively. Experimental results show that the hand has desirable performance in shape adaptive grasp. In addition, it is capable of imitating human grasp by using a human-machine interface.