一种欠驱动多指杆机器人手

A kind of underactuated robot hand with multi-phalanges

提出的欠驱动多指杆机器人手能用直指戏曲指方式履行各种工业操作任务。本文描述了三指多指杆手的工作原理、手指位移与力分析，这种手抓取物体的适应性、稳定性、抓力都优于常规手爪，提出的手指结构能减少控制复杂性、重量和成本，并能实现多功能地抓职不同物体的能力。

The being proposed underactuated robot handwith multi-phalanges can perform various tasks of industrialoperation in extending or bending finger manners. This paperdescribed working principle of three fingered multi-phalangeshand, displacement of fingers and force analysis. The adapt-ability,stability and grasping force while this hand is catchingan object are all superior to those of the conventional hands.The proposed finger structure can reduce the control complex-ity,weight and cost of the hand and can realize the ability ofcatching different objects in multi-functions.