摘要
介绍了一种新型多自由度假手的机械结构、运动方式及其静力学分析.假手的主要结构部件由光敏树脂制成,使用小型直流伺服电机作为驱动器.手指采用欠驱动及腱驱动方式.该假手具有拟人的外观、较低的整体重量和对被抓物体外形的适应能力.文章研究了假手的运动特点及接触力规律,通过仿真对假手的接触受力规律进行了校验.最后通过实验,对假手的运动规律与抓握能力进行了验证.
The structure,motion mode and static analysis of a novel multi-DOF prosthetic hand are presented.The main parts of this prosthetic hand are made from photosensitive resin,and mini DC（direct current） servo motors are used as actuators.Underactuated and tendon driven mechanisms are used in fingers.The new prosthetic hand features humanoid appearance,low weight and adaptive grasp.The movement features of the prosthetic hand and the law of contact force are studied,and the law is testified by simulation.At the end,the motion law and grasp capability of the prosthetic hand are verified by experiment.
出处
《机器人》
EI
CSCD
北大核心
2010年第6期799-804,共6页
Robot
基金
国家863计划资助项目(2008AA04Z203)
关键词
假手
欠驱动
腱驱动
prosthetic hand
underactuated
tendon driven
