超欠驱动仿生机械手的机构设计与实验研究

Mechanism design and experimental research of super under-actuated bionic manipulator

利用多自由度差动驱动原理,设计了5自由度差动驱动系统用于驱动手指5个分支的运动。应用欠驱动原理,通过在各关节处设置弹簧,约束各分支关节的运动;同时手指关节之间用片簧连接实现铰链和恢复弹簧的两种功能,构成弹性铰。在对传动机构进行分析的基础上,设计了常开状态的仿生机械手,对仿生机械手进行三维造型和模型制作,并对其进行了抓取等实验研究。研究表明,设计的仿生机械手仅由一个原动力便可驱动手的15个关节差动运动,具有对抓取物体的自适应性。

Utilizing the multi-degree of freedom differential actuation principle, a 5 degree of freedom differential actuation system used for driving the movements of the 5 branches of fingers was designed. Applying the under-actuation principle and by means of setting springs at each joint to restrict the movement of each branch joint. At the same time sheet springs was adopted for connecting the finger joints so as two functions of realizing hinging and restoring springs were achieved and an elastic hinge was constituted. On the basis of carrying out analysis on the transmission mechanism, the normally open stated bionic manipulator was designed, and the 3D modeling and model manufacturing of the bionic manipulator were carried out and an experimental research on its grabbing etc. was carried through. The research showed that the being designed bionic manipulator could then actuate the 15 joints differential movements of hand only by one motivity, and possesses self-adaptability on grabbing objects.