腱传动仿人手指机构的设计与分析

Design and analysis of tendon drive mechanism for biomimetic robot fingers

为了解决仿人多自由度手指机构结构复杂的问题,提出了一种基于欠驱动原理的腱传动机构,介绍了该机构的具体实现方法,主要包括手指结构设计、关节及其转角分析、扭簧设计、电机功率计算、位置/力传感器选择和自动控制系统设计等内容,在对三维模型进行分析的基础上,设计制造出了一个手指实物模型。运动试验结果表明,该手指实物模型具有结构简单的特点,能够通过弯曲和张开动作实现物体抓取。

In order to solve the problem that the muhi-DOF finger mechanism for biomimetic robot is complex,a tendon drive one based on underactuated drive principle was put forward. The finger configuration design,joint and its rotation angle analysis,torsional spring design,motor power calculation,location/force sensor selection,as well as the control system design for the realization of the mechanism were introduced. A 3D model was constructed and analyzed, and a further prototype finger was tested. The experimental results show that, this method is practicable, which is simple and able to carry things by bending and stretching motion.