摘要
由冗余自由度手指构成的多指灵巧手具有较大的灵巧性，对物体进行微细操作以及抓取特殊形状物体的能力也比非冗余自由度手指构成的多指手要强． 对冗余自由度手指的结构设计问题进行了研究，引进了优化设计方法，提出了适用于多指灵巧手的手指结构优化设计的优化目标函数，编制了优化程序，进行了优化计算，得到了比较满意的结果． 最后，用该手指具体设计了一种多指灵巧手，并给出了其三维视图．该灵巧手有手掌，具有３ 个手指，１２ 个自由度，可以在多种场合使用，具有极大的灵巧性．
The multi fingered robot hands constructed by redundant fingers are more dexterous and have bigger possibility to finish fine operation and to grasp objects with complicated shape. This paper studies the structural design of a redundant robot finger by optimal design method, presents the goal function suitable for dexterous robot hand optimal design, writes the optimal program, proceeds the optimal calculation, and gets the ideal results finally. The authors designed the detail structure of a 3 finger 12 DOF palmed dexterous hand by redundant fingers and its optimal parameters, and gave its 3D drawing, and the hand could be used in many cases and has great dexterity.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
1999年第6期119-121,132,共4页
Journal of Harbin Institute of Technology
关键词
多指灵巧
手指
结构设计
优化设计
机器人
multi fingered robot hand
robot finger
structural design
optimal design
