基于欠驱动机构的仿人机器人手爪设计

Design of a Humanoid Robot Hand Based on Underactuated Mechanism

通过研究人手的生理结构特点,模仿人手结构,设计出仿人机器人手爪。整个手爪设计有拇指、食指、中指和小指,每个手指有三个关节。采用欠驱动连杆机构设计出结构紧凑的三关节手指机构以实现包络抓取和精确捏取。设计出高度集成的大功率小体积的驱动和传动机构并通过一个电机调整拇指机构的位置,以形成多种抓取模式。最后介绍了该手爪的控制以及抓取实验。

Through studying the physiology structural characteristics of people＇s hand, an underactuated humanoid robot hand has been designed, which has four fingers. They are the thumb, the index finger, the middle finger and the little finger. All of the fingers are made of linkages and each has three joints. They can realize enveloping grasping and pinching precisely grasping. High efficiency, small volume actuation and transmission system which are highly integrated have been developed. A motor has been used to adjust the position of the thumb to form diverse grab modes. The control system and the experiments have been introduced at the end of this paper.