摘要
文章提出一种丝杆螺母机构型机械手,它具有结构紧凑,操作灵巧,控制容易的特点。多指手仅用一个电机驱使手指的开闭操作。文中描述了机械手的结构设计与手指的运动分析与力分析,与现有的多指灵巧手和欠驱动多指杆机器人手相比,这种机械手的结构更为紧凑,且能减少控制的复杂性。
A mechanical gripper based on screw-nut mechanism is presented in this paper.It has the characteristics of compact structure,dexterous operation,and easy control.Multiple fingers with only one electrical motor can perform open and closed operation.This paper described the structure design of mechanical gripper,kinematic analysis,and force analysis of the fingers.The mechanical gripper has more compact structure than current multi-fingered dexterous hands and underactuated hands of robot with multi-phalanges.It can reduce the control complexity.
出处
《中国西部科技》
2010年第15期31-32,共2页
Science and Technology of West China
基金
绍兴文理学院大学生科研创新团队资助项目
关键词
机械手
丝杆螺母机构
运动分析
Mechanical gripper
Screw-nut mechanism
Kinematic analysis
