十自由度假手结构设计及动力学建模仿真

Structural Design and Dynamic Modeling and Simulation of 10-DOF Prosthetic Hand

针对传统假手运动不够顺畅和不够灵活的缺点,参考人手的结构,设计了一种五指十自由度的假手。该假手采用模块化的设计思想,除拇指外的四指尺寸结构完全相同,每个手指具有2个屈曲自由度;拇指具有屈曲和侧摆2个自由度。在此结构的基础上,针对拇指和食指进行了动力学建模,并通过Matlab数值仿真和ADAMS虚拟实验的对比,验证了动力学模型的正确性。

To address the shortcoming of movement inflexibility of the traditional prosthetic hand,a fivefingered 10-DOF prosthetic hand is designed based on the natural hand.Using the modular design concept,this prosthetic hand’s thumb has two DOF：buckling and side-sway,and all of the other four fingers have the same size and structure,each of which has 2buckling DOF.Then dynamic modeling is performed for the thumb and index finger.The correctness of the dynamic model is verified by comparing the Matlab numerical simulation and the ADAMS virtual experiment.