欠驱动四指灵巧手的设计与研究

Research and Design of a Novel Tendon Driven Underactuated Multi-fingered Hand

传统的全驱动灵巧手独立驱动单元过多,控制复杂,体积和重量过大,造价高昂,限制了其实际应用.欠驱动多指手在保证一定运动灵活性条件下,极大地降低了系统成本,具有驱动单元少、控制器相对简单的特点,体现出更高的实际应用价值.本文提出一种通过腱、滑轮传动的欠驱动多指手的设计方案.给出了多指手的机械结构,以及拇指的独特设计.通过对手指静态构形的分析,讨论了影响多指手运动的关键部件关节弹簧的选取原则和方法.建立了手指的抓取静力学模型.在此基础上,分析了多指手抓取物体时弹射现象的形成.通过计算机仿真和实物实验,验证了能够利用4个电机实现4个手指的抓握、伸展和抓取不同形状的物体,且具有较强的抓取物体的能力.

For the traditional dexterous hands, some features such as limited output force, complex control system and high cost make them difficult to be widely applied in a short time. Under conditions of ensuring enough flexibility of grasping, underactuated multi-fingered hands have the advantages of less actuator elements, simpler mechanism scheme, simpler control system and lower cost. This explains that underactuated multi-fingered hands have higher practical value. This paper puts forward a novel design program of the underactuated multi-fingered hand which has a tendon-pulley transmission. Following that, mechanical structure of the underactuated multi-fingered hand is designed and the thumb has a special design. Based on the finger static configuration analysis, the selection principles and methods of the key components ＂joint springs＂ are discussed. The static models are built. Based on that, the ejection phenomenon is studied. Experimental study shows the feasibility of the underactuated multi-fingered hand with a strong ability to grab objects.