气动柔性五指机械手结构设计及其抓取实验

Structure Design and Grasp Experiment of Flexible Five-fingered Robot Hand

根据仿生学原理,仿照人手外形设计了气动柔性五指机械手。该机械手手指结构采用模块化设计,由自主研制的气动单向弯曲关节和多向弯曲关节通过连接盘串联组合而成。在建立的机械手气动实验平台上,完成机械手的抓取实验。结果证明该机械手动作灵活,具有较好的物形适应性,可以抓取球体、圆柱体和长方体等多种形状的物体。

A new type of pneumatic flexible five-fingered robot hand imitating the human hand based on bionic principles was designed. The structures of the fingers adopted the modular design concept,and each finger was composed by single bending joints and muti-directional bending joints in series. The grasp experiments were done on the pneumatic control platform of the robot hand. And the experiments show that the robot hand has good flexibility to adapt the shape of the object,and it can grasp objects of various shapes,such as sphere,cylinder and box and so on.