仿人假手柔性食指机构研究

Research on Mechanism of Prosthetic Flexible Index Finger

针对仿人假手抓取物体欠柔性问题,从提高假手操作灵活性、手指柔性角度,设计欠驱动多自由度柔性食指机构,并进行手指运动学分析和工作空间分析.研究建立了食指机构的简化模型,假手的食指由一个独立的电机带动,采用钢丝绳合并连杆机构驱动,并基于运动学分析了食指机构.结果表明:在选取适当手指机构尺寸及各关节的转角范围后,获得了指端的工作空间及相对于手掌的位置;手指关节内加入扭簧,抓取物体时,假手表现出良好的柔性和形状自适应性.

According to the problem of prosthetic hand lacking flexibility in grabbing objects,an under-actuated index finger mechanism with multiple degrees of freedom was designed for raising its operating flexibility,and kinematic analysis and workspace analysis of fingers were made. A simplified model of the index finger mechanism was established,the index finger was driven by a motor with wire rope and linkage mechanism,and its mechanism was analyzed based on the direct kinematics. The results show that selected appropriate finger and angle of each joint,the workspace and location relative to the palm were obtained. Adding torsional springs to each knuckles of the finger,the hand shows a desirable performance in flexible and shape adaptive grabbing objects.